By: Eric BackmanAdvisor: Dr. Malinowski

Introduction Goals Project Overview and Changes Work Completed Updated Schedule

Introduction

Stable Hovering Autonomous take offs and landings Manual control using joystick Collision Avoidance Color Recognition

Removed use of camera and color recognition due to time constraints

Will focus on more accurate distance measurements

Be able to quickly stop within 5 cm of a specific distance from wall

Overall System Requirements◦ Quadrocopter can take off and land autonomously◦ Limit power to maximize time of flight◦ Able to maintain distance from wall with error +/-

5 cm Infrared Sensor Requirements

◦ Sense distance to all objects within at least 1 meter with accuracy of 1 cm

◦ Distance sent to microprocessor from 6 sensors at least every millisecond

Atmega168 Microprocessor Requirements◦ Read the distance sensor voltage with accuracy

equivalent to at least 1 cm◦ Send distance sensor data to BeagleBoard at least

every 10 ms using serial port◦ Create Pulse Width Modulation signal of 50 Hz

that has at least 10 us resolution BeagleBoard Requirements

◦ Update command PWM settings every 20 ms using sensor and joystick inputs

Due to the angle of the Quadrocopter, sensors will give longer distances

This will be fixed by using the command to estimate angle

Will use this to accurately stop at a specific distance from the wall going at varying speeds

If a 1.25 ms pulse corresponds to a 22.5° angle and it has been running a 25% duty cycle for a certain amount of time

This method depends on accuracy of angle measurements

Design Atmega168 processor programming:

◦ 6 analog channels to ADC w/ sensor resolution .98 cm

◦ 4 channels of PWM w/ 10 us resolution @ 50Hz◦ UART Serial Communication

Beagleboard programming◦ Serial communication◦ UDP network connection

Remote controller programming◦ UDP network connection

Software took much longer than expected◦ Analog to digital converter on Atmega 168 needs

capacitor for accuracy, not well documented◦ Various serial port issues

Removal of camera means the project is still on track to be finished

Mount hardware Atmega168 processor programming:

◦ Revising code after integration with quadrocopter Beagleboard programming

◦ Mapping joystick to PWM control Revising code after integration with quadrocopter

◦ Collision avoidance◦ Autonomous emergency landing

Remote controller programming◦ Joystick

March 7 – Mount hardware March – Final software debugging and initial

flight testing April – Work on getting accurate distances

and collision avoidance Late April – Project analysis and Final report