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
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)
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
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
Software Links
Pictures & Videos
Achievements Unlocked