Table of Contents
Design
- 4 Motors ESC
- ARM Cortex-M3 80Mhz
- Sensors: Gyro, Accelerometer, Compass, Temperature, GPS & Sonar(to come in later design)
- Xbee 802.15.4 Wireless Communication
Plan
Project is current in Phase B-9.
Design Diagram: quadrotor_uav_arko.vsd
Phase A - Hardware Development
- Build a one motor/ESC setup, vary speed (Prototype with Arduino)
- Build a two motor/ESC setup, vary speed (Prototype with Arduino)
- Design board with new TI chip, sensors, power management, etc.
- Layout, mill and test proto board
- Build a two motor/ESC setup teeter-tot (Pitch) and wire up to proto board, test all hardware
Phase B - Modeling & Software Development
- Create library (or use Maple IDE)
- Create Kalman filter for all sensor inputs
- Create basic flight control/stabilization code
- Balance one degree of freedom very well (Pitch)
- Code Clean Up
- Build a rig to support two degrees of freedom (Pitch and Roll)
- Balance two degrees of freedom (Pitch and Roll) very well
- Modify rig to support three degrees of freedom (Pitch, Roll, Yaw)
- Balance and stabilize all three axis, add fourth degree of freedom (Altitude)
- Create wireless communication with computer/controller and command set
Phase C - Testing/Revising
- Test and improve board layout, filtering, design
- Design/CAD new chassis, mount and update model
- Add any extra features
- Test, Test, Test
Phase D - Package and Document
- Document all parts, assembly notes, and code
- Create cost summary and links to buy parts
Phase E - Complex Flight
- Follow flight path defined by user
- Do tricks?
- Stage 6 to CDM, separation at level 4
Phase F - ???
Phase G - Profit
Chassis and Hardware
- Build teetertot 1 degree of freedom (pitch)
- Picture and build instructions coming soon..
- Build 2 degrees of freedom balance (pitch and roll)
- Build 3 degrees of freedom rig (pitch, roll, yaw)
- Build 6 degrees of freedom rig (hang on a string?, pitch, roll, yaw, long, lat, alt)
Board Layout and Schematic
- Board layout and schematic to be posted soon..
- List of Parts to be posted soon..
State Estimation & Kalman Filter
To obtain a clean state estimation one must first filter the sensory inputs then produce a state model based on that.
- Create Kalman filter
- Here's a simulation of a gyro and accelerometer filtered to give a clean angle estimation: kalman_gyro_acc.m
- Create state model
Control System
Hardware links
- Processor: TI LM3S9B96 - ARM Cortex-M3 80Mhz
- Gyro: L3G4200D
- Accelerometer: ADXL335
- Compass: HMC5843
- Temperature: TMP35
- Crystals: 16 Mhz Crystal
- Crystals: 25 Mhz Crystal
- Power Regulator Buck: TPS54231
- Level Logic: BSS138
- Wireless: Zigbee Module
Software Links
- Maple IDE: Maple IDE
- QGroundControl: qgroundcontrol
- IAR: IAR ARM
Pictures & Videos
First Stable Flight with APM!
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New Chassis!
First flight test with APM
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New Frame!
Fixed Kalman Filter Lag issues! Small setback, but the control should be much cleaner.
<html> <iframe width=“640” height=“390” src=“http://www.youtube.com/embed/2C_nZQytfUc” frameborder=“0” allowfullscreen></iframe> </html>
New Mount! Finally Rotational X,Y,Z!
New Chassis!! Finally have 4 rotors!
New board in action!
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Balancing with a Kalman Filter and PID loop tuned!
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Balancing for the first time! (no Kalman Filter)
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Powered up the motors and able to read accelerometer!
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First time firing up the board and the code uploaded just fine! Test code works!
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Beginning code works! Able to read multiple ADC inputs and output multiple PWM outputs!
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