SmartCopterGroup #3

Alvilda RolleBrian Williams

Matthew Campbell

SponsorRogers, Lovelock, and Fritz

Architecture and Engineering

University of Central Florida December 4, 2009

IntroductionSmartCopter is a device that is mounted to

the underside of a RC helicopter and records flight data. Such as acceleration, rotation, current heading, and current video. All while streaming video from the helicopter.

MotivationTo understand the dynamics of RC helicopter

flightTo create a starting point for autonomous

designs

GoalsTo record flight data

Acceleration in x, y, and z axisRotation about the x, y, and z axis.AltitudeMagnetic Heading

To record videoOverlay flight information in post-production

If time permits

Helicopter DescriptionESKY BELT CP RC Helicopter

Brushless motorBelt driven tail rotor

More control Lower failure rate

Capable of aerobatic flight

Helicopter Description

Helicopter DescriptionPosition & Orientation

Frame of reference Space Frame Body Frame Main Rotor Frame

Pitch, roll, yaw Euler angles (shown on next page)

Helicopter Description

Helicopter DescriptionFlight Surfaces

Main Rotor Speed in RPMs Beta Angles or Pitch Collective Pitch

Tail Rotor Pitch

Power ManagementBattery

Lithium Polymer 11.1V 1800mAh 20C 3-Cell high capacitance Li-Po battery Advantages Quantity: 2 Replaces Lithium-Ion

Power Supply Battery Speed controller – regulates voltage supplied to motor Motor - functions as a converter of electrical energy to kenitc

Motor Control Esky 450 3800KV brushless motor Advantages: longer lifetime, higher efficiency No brushes

Kv:     3800 RPM/V  

  No Load Current:     2.0A  

  Resistance:     -  

  Max Voltage:     12V  

  Max Current:     20A  

  Max Watts:     220W  

  Weight:     58 g / 2.04 oz  

  Size:     27.7 mm x 30 mm  

  Shaft Diameter:     2.3 mm  

  Poles:     6  

Servos Standard vs. Digital Control flight device Uses error sensing feedback to provide correction Maintain position 3 wire control usage: ground wire, signal wire, power wire Receives a series of pulses sent over a control wire that control the angle of the actuator

arm Connected to linkage that connects to swashplate

Flight Data System- Hardware

Accelerometers Used to measure acceleration forces Helps determine orientation Triple Axis Accelerometer –ADXL 335 Low noise and power consumption Polysilicon surface Mechanical sensors for X,Y, and Z axis Used with operating voltages above Vs = 3V, single-supply operation: 1.8V to 3.6V Low power: 350 uA (typical) Great temperature stability, fully assembled Other possibilities: Triple Axis Accelerometer Breakout – SCA3000

Gyros Mechanical vs. Piezoelectric Pointed nose detection Gyro Breakout Board - IDG500 Dual 500 degree/sec Uses 2 sensor elements that sense the rate of rotation about the X and Y axis Heading Hold (HH) vs. Yaw Rate (YR) Noise filtering Other considerations: IMU 5 Degrees of Freedom IDG500/ADXL335 vs. Gyro Breakout

Board + Triple Axis Accelerometer Breakout*The Inertia Measurement Unit

Type LV-MaxSonar-EZ2

XL-MaxSonar-EZ4

XL-MaxSonar-AE2

XL-MaxSonar-WR1

XL-MaxSonar-WRA1

Easy to use interface

Yes Yes Yes Yes Yes

Has noise canceling

Some Yes Yes Yes Yes

Outdoor use

*No *No *No Yes Yes

Automatic Calibration..**

On power up only

Yes Yes Yes Yes

Cost $30.00 $55.00 $55.00 $105.00 $105.00

Ultrasonic Range Finder Measure distances between moving and/or stationary objects Ping sensor Ultrasonic Range Finder - Maxbotix LV-EZ2 Quantity: 2

,

*Not specifically designed for outdoor use, but device can be mounted so that the sensor is protected from element exposure

**Automatic Calibration to Compensate for Changes in Temperature, Noise, Humidity, and Voltage

GPSEM-406A

SiRF Star III ChipsetAccuracy of 5 meters42 second average initialization timeUpdates every secondTTL interface

Formatted String output

GPS

Microcontroller• Hardware

– PIC 18F4610– 40-pin configuration– 13 A/D channels

• 10 bit accuracy

– CCP and ECCP modules• Support of 5 PWM channels

– Operating Frequency of up to 48MHz– Enough Memory to fit SD Card Driver– ICSP Programming ability

Microcontroller

MicrocontrollerMore Hardware

64k of program memory2k of data memory256 bytes of EEPROM75 Instructions

83 w/ Extended Instructions Enabled20 Interrupt Sources

SD Card InterfaceSD Card Pin Out

1. Chip Select2. DI3. GND4. VDD (+3.3V)5. CLK6. GND

SD Card InterfaceFlight data stored onto SD Card to be read

after the flightIncludes time stamp so that video can be

synced with dataFAT32 file systemSPI interface

Embedded SoftwareC18 Programming Language

Embedded SoftwareGPS Reader

Does Updates GPS via serial communications

Knows Current Location Previous Location

Analog ReaderDoes

Manages the A/D Converter Updates sensor data

Knows Values from each A/D channel

Embedded SoftwareSensor Reader

Does Initializes Readers Manages data from sources

File WriterDoes

Writes flight data to SD card

Embedded SoftwareController

Does Initializes components Relays data to File Writer Manages timing between data updates and file writes

Knows Current time Current state

Init Waiting on Data Writing Data Close

Base Station SoftwareCreated using Java Media FrameworkGUI containing recorded flight video and

data

TestingFinancial burdenMaintain structural integrityTimeline setbackCrash could result in potential

failureMust function on presentation

day

Testing Procedures

Flight SimulatorManual Flight ControlsHardware ConnectionsGlobal Positioning

SystemHeliCamSoftware

Flight SimulatorFlight simulator testing will allow the team to learn the

fundamentals of the helicopter flight controls.Crashing the actual helicopter is a must to avoid!Upon successful completion of the flight simulator, the

team will fly the actual helicopter.

Hardware ConnectionsSource Voltage ( Vdd )Ground ( Vss )5/3.3 Voltage RegulatorAccelerometerGyrometerUltrasonic Range FinderSiRF Star III ChipsetSD Card Interface

Source Voltage ( Vdd )Test circuit board input voltage via splice

from 11.1V Lithium Polymer battery.

Voltage RegulatorNeed to regulate voltage from 5V to 3.3V for

accelerometer, gyrometer, and SD card interface.

AccelerometerInput voltage needs to be 3.3V at pin 9 of breakout

board.Continuity test for XOUT , YOUT , ZOUT outputs at pins 1,

2, and 3 of breakout board, respectively.

GyrometerInput voltage needs to be 3.3V at pin 9 of

breakout board.Continuity test for XRATE , YRATE outputs at pins 7 and

6 of breakout board, respectively.

Ultrasonic Range FinderInput voltage needs to be 5V at pin labeled “ +5

”

Continuity test for analog output at pin labeled “ AN ”

SiRF Star III ChipsetInput voltage needs to be 5V at pin 2 of SiRF Star

III unit.Continuity test for RX and TX outputs at pins 3

and 4 of SiRF Star III unit.

SD Card InterfaceInput voltage needs to

be 3.3V at pins labeled “ CS, DI, VCC , CLK, DO, IRQ, P9 ”

Continuity test at pins labeled “ CD, WP ”

3.3V3.3V3.3V3.3V

3.3V3.3V3.3V

CONTINUITYCONTINUITY

Global Positioning SystemTest for accuracy by comparison with

Blackberry Global Positioning System.

HelicamPlug transceiver into television to ensure

proper function of wireless camera system prior to mounting.

TV tuner card for wireless feed prior to mounting.

SoftwareTesting done incrementally

Sensors TestedGPS TestedSD Card Tested

Final TestingMake sure everything works together

Testing LocationProper testing

locationLarge areaMinimal trafficTerrain composition

Soft soil Grass

Close proximity to two team member’shomes

Testing AccommodationsMaximize productivity and efficiency on test

days.Additional batteries

Transceiver Helicopter Multimeter

Close access to electricity, computer, and shelter in the event of unexpected weather.

Completed hardware

Base Station Software

BudgetPart Price

per Unit ($)

Quantity

Total ($)

Status

Esky Belt-CP 450 RC Helicopter 200.00 1 200.00

PIC 40 Pin 48MHz 16K 13 Channel A/D USB-18F4610

11.39 1 11.39

Ultrasonic Range Finder – Maxbotix – EZ2 27.95 2 55.90

Compass Module – HMC 6352 59.95 0 59.95

Triple Axis Accelerometer Breakout – ADXL 330

34.95 0 0.00

Gyro Breakout Board – Dual 500 degree/sec 59.95 0 0.00

20 Channel EM – 406A SiRF III Receiver with Antenna

59.95 1 59.95

2.4Ghz HeliCam 39.95 1 39.95

IMU 5 Degrees of Freedom 99.95 1 99.95

Heli-CaM Wireless Camera 59.95 1 59.95

Serial Cable DB9 M/F - 6 Foot 3.95 1 3.95

40 Pin PIC Development Board 15.95 1 15.95

~650.00

Acknowledgments Dr. RichieProfessors presentRogers, Lovelock, and Fritz Architecture and

EngineeringTeam members