Flamewheel UAV

EEL4665 Intelligent Machine Design LabFall 2012

Matt Thompson

Goals

• Convert flamewheel into UAV– Self stabilizing– Autonomous takeoff and land– Fly to GPS waypoints– Drop payloads

• Components– Quadcopter– Flight Controller PCB– Software

Quadcopter

Flight Controller PCBFeatures• STM32F405 Processor

– 168 Mhz, FPU– 192Kb RAM, 1Mb Flash

• MPU6000– 3 axis accel and gyro at 1khz– Integrated 16 bit ADCs

• BMP085 Altimeter• Xbee• IO

– Output: ESCs, Servos– Input: Analog, PWM

• LEDs! (Can’t ever have enough)

Altium PCB Layout

Mag/GPS PCB

Features• LS20031 GPS

– 5Hz update rate

• HMC5883L Magnetometer– 3 Axis magnetometer– 12bit ADCs at 160Hz

Altium PCB Layout

Software

• Built on custom RTOS– Multitasking with priorities– Zero interrupt latency

• Multiple flight modes– Stabilize– GPS– Mission– Acro (after IMDL demo!)

• INS - 1khz– Integrate gyros– Attitude quaternion

• EKF - 100hz+– Tracks INS errors using

accels and mag– Estimates accel and gyro

biases– Periodically resets INS

State estimator

Status• State estimation simulated in Matlab• Basic code tested on a development board• PCBs coming Thursday/Friday!• Hope to be test flying in 3 weeks– Write drivers for all the hardware– Implement and test state estimator– Design and implement PID control

• Come up with cool autonomous demo– GPS waypoints + Servos = ??– GPS waypoints + Bottle rockets = ?!?!