Group Members:

Shuohan WanDustin Douglas

Kevin Oberg

Advisors:Prof. Hammer

Prof. Ernie

Open-source (GPL) autopilot on RC Plane Autopilot- Tiny v2.11 RC Plane- Multiplex FunJet

Create project handbook Contains step-by-step simplified details

necessary to recreate project in less time Understandable to the average engineer

Assist two Aerospace Engineer teams These AEM teams handle the physical planes We help with all necessary electrical needs

FunJet plane requires configuration of a number of components AutoPilot Control Board Battery Radio-modem and antenna GPS receiver IR sensors for X-, Y-, and Z-axes Motor and controller RC receiver and antenna Servos

International Traffic in Arms Regulations (ITAR)

•Open-source (GPL) necessary to be able to sell in international markets

Many types of commercial and enthusiast autopilots available

Paparazzi already deployed on FunJets as well as other airframes Not well documented

Paparazzi Wiki Useful for general info Fails to provide some specifics

Successfully fly* the Multiplex FunJet under autopilot control (uses elevons)

After flying FunJet, fly aircraft with traditional configuration (ailerons, elevator, rudder)

* Successful flight test entails manual takeoff and landing with autonomous flight by wire controlled by a PC ground station

Aerospace Engineering teams support We need to assist these two teams with any

electrical or software related difficulties they encounter

Manual Professor Hammer would like to have a detailed

handbook that walks through the process Stretch goals

Autonomous takeoff/landing Video/Picture feedback Multiple aircraft flying simultaneously Build/Fly our own FunJet

Conventional R/C electronics Receiver Servos Motor/ESC Battery

Paparazzi Equipment Tiny v2.11 IR sensors Modem

Conventional R/C Functional Diagram

Paparazzi Augmented R/C Functional Diagram

Tiny v2.11 becomes the heart Everything is directly connected

R/C receiver is auxiliary communication Serves as backup communication device

Manual R/C control Takeoffs Landings Modem failure

Tiny v2.11 control Autonomous flight (Auto 2) Semi-autonomous flight (Auto 1) Fly by wire (air) through GCS

Majority of budget spent on pre-crimped wires Pre-crimped wire ~$30 per plane Crimper would cost ~$250 if bought separately

The connector, 3-8 pin, cost ~$5 per plane Parts provided by Lockheed Martin

Multiplex FunJet ~$75 IR sensors ~$70 RF Modem ~$200 Servos/receiver~$80 Motor/ESC~$110

10/11 – FunJet manual flight 10/25 – FunJet autonomous flight 10/25 – Trainer manual flight 11/2 – Trainer autonomous flight 12/8 – Implement advanced features

Camera Interface paparazzi with AEM flight simulator

12/8 – Final draft of Paparazzi Handbook

We are making good progress towards our autonomous flight goal

Most electrical issues have been dealt with

We are learning

Reid Plumbo, Todd Colten, Jeff HammerAEM Paparazzi Team A: Jacob Rohrer, Peter Rohrer, Ben Bradley, Richard SchiellAEM Paparazzi Team B: Ben Bradley, Nate Olson, Pat O’Gara, Sean Jarvie

SPRC in Ham Lake

Lockheed Engineers Reid Plumbo Todd Colten

Professor Hammer AEM Team A & B

Step 1: Flash bootloader using special cable

Step 2: Flash GPS tunnel using USB programming cable

Step 3: Program GPS using U-BLOX software and special cable

Step 4: Flash autopilot program using USB programming cable