F13: Quadcopter

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.

Abstract

The Quadcopter is a four rotor remote controlled aircraft. It takes in remote commands from a hobbiest 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
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
Code cmd translator	29-Oct
Code PID	5-Nov	17-Nov	Complete
Code PWM Encode Driver	12-Nov
Integrate Processor with Aircraft	12-Nov	1-Nov	Complete
Tether Testing 1D stabilization (pitch)	12-Nov
Tether Testing 2D stabilization (pitch, roll)	19-Nov
Tether Testing 3D stabilization (pitch, roll, yaw)	26-Nov
Full Flight Testing	26-Nov
Demo	3-Dec

Parts List & Cost

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Design & Implementation

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Hardware Design

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Hardware Interface

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Software Design

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Implementation

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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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