Difference between revisions of "F13: Quadcopter"
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== Design & Implementation == | == Design & Implementation == | ||
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| + | === Introduction=== | ||
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| + | [[File:Cmpe240 f13 quadcopter pitchrollyaw.png ]] | ||
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| + | [[File:Cmpe240 f13 quadcopter stationary.png]] | ||
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| + | [[File:Cmpe240 f13 quadcopter foward.png]] | ||
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=== Hardware Design === | === Hardware Design === | ||
Revision as of 18:25, 7 December 2013
Contents
Grading Criteria
- How well is Software & Hardware Design described?
- How well can this report be used to reproduce this project?
- Code Quality
- Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
- Schematic Quality
- Quality of technical challenges and solutions adopted.
Quadcopter
Abstract
The Quadcopter is a four rotor remote controlled aircraft. It takes in remote commands from a hobbyest remote control, and achieves steady flight by utilizing a 3 axis accelerometer and a 3 axis gyroscope to determine the current attitude. It then takes the values from the remote control, and current attitude, and determines the needed changes to the motors to achieve the desired flight.
Objectives & Introduction
The objective of this project is to build a remote controlled quadcopter that is capable stable flight. We will control the quadcopter via a Spektrum DX5E hobbyist controller. We will be creating an Inertial Measurement Unit(IMU) using a 3 axis accelerometer and a 3 axis gyroscope. The IMU will communicate with the SJ One Board via I2C. We will be implementing a complementary filter in software to estimate the quadcopter attitude, and will then have a PID control loop in software to generate outputs to the motors.
Team Members & Responsibilities
- Craig Farless
- Airframe Design
- Sensor Design
- Remote Control Interface Design
- Flight Controller Software Design
Schedule
| Task | Projected Completion Date | Actual Completion Date | Status | Notes |
| Buy Parts | 1-Oct | 1-Oct | Complete | |
| Build frame | 8-Oct | 8-Oct | Complete | |
| Install Sensors | 15-Oct | 8-Oct | Complete | |
| Code I2C i/f to sensors | 15-Oct | 15-Oct | Complete | |
| Code Filters | 22-Oct | 15-Oct | Complete | More filtering may be needed |
| Code accel/gyro conversion to angle | 22-Oct | 22-Oct | Complete | |
| Integrate Power System | 22-Oct | 22-Oct | Complete | |
| Code PWM input | 29-Oct | 15-Nov | Complete | Much more difficult than planned |
| Code cmd translator | 29-Oct | 20-Nov | Complete | |
| Code PID | 5-Nov | 17-Nov | Complete | Will continue tuning PID |
| Code PWM Encode Driver | 12-Nov | 16-Nov | Complete | |
| Integrate Processor with Aircraft | 12-Nov | 1-Nov | Complete | |
| Tether Testing 2D stabilization (pitch, roll) | 19-Nov | 30-Nov | Complete | More sensor filtering and PID tuning may be needed |
| Tether Testing 3D stabilization (pitch, roll, yaw) | 26-Nov | - | - | Went directly to Flight Testing |
| Full Flight Testing | 26-Nov | 3-Dec | Initial Testing | More flight testing required |
| Demo | 3-Dec | 3-Dec | Complete | |
Parts List & Cost
The table below summarizes the parts used and the cost for the Quadcopter project.
| Qty | Description | Manufacturer | Part Number | Total Cost |
|---|---|---|---|---|
| 4 | Electric Speed Controller (ESC) | Castle Creations | 010-0125-00 | $148.00 |
| 4 | Park 480 Brushless Outrunner 1020kV motor | E-Flight | EFLM1505 | $180.00 |
| 1 | Triple Axis Accelerometer Breakout - ADXL345) | Sparkfun | SEN-09836 | $27.95 |
| 1 | Tri-Axis Gyro Breakout - L3G4200D | Sparkfun | SEN-10612 | $49.95 |
| 1 | Triple Axis Magnetometer Breakout - HMC5883L | Sparkfun | SEN-10530 | $14.95 |
| 1 | SJOne Board | SJSU | - | $75.00 |
| 1 | Logic Level Converter Bi-Directional | Sparkfun | BOB-12009 | $2.95 |
| 1 | Quad 2 Input Or Gate | On-Semiconductor | MC14071BCP | $2.25 |
| 1 | DX5E 5 Channel 2.4Ghz Tx/Rx Remote Control | Spektrum | DX5e | $89.99 |
| 1 | 4000mAH 25C 3S Lipo battery | Hyperion | - | $45.00 |
| 5 | EC5 male and female connector | Hobby King | - | $20.00 |
| 1 | Black Silicon coated wire 12AWG 1 meter | Hobby King | - | $5.00 |
| 1 | Red Silicon coated wire 12AWG 1 meter | Hobby King | - | $5.00 |
| 1 | 12x24 Aluminum Treadplate (0.063) | Home Depot | - | $34.78 |
| 2 | 1/2" Aluminum Trim Channel, 4' | Home Depot | - | $22.54 |
| - | Misc Nuts and Bolts | Home Depot | - | $30.00 |
| Total Cost | $753.36 |
Design & Implementation
Introduction
Hardware Design
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Hardware Interface
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Software Design
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Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
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Wifi Connection Issues
Many wifi connection issues were encountered. To solve this problem, a dedicated task was created to re-connect to wifi if the connection was ever lost.
Conclusion
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Project Video
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Project Source Code
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References
Acknowledgement
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References Used
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Appendix
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