Hot DropFormal Report #2 – Special Sensor

Matthew ThompsonEEL5666

Quadcopters are naturally unstable Need a control board to stabilize Control board senses motion of the quad

Background

Motion Sensors◦ Gyroscope

Angular rate◦ Accelerometer

Acceleration◦ Magnetometer

Magnetic field

Background

Previous Quadcopter Too many sensors!

◦ 4 ICs on 3 boards below Giant mess!

Inspiration

Other problems◦ Alignment◦ Vibrations◦ Analog noise

Sparkfun improvements◦ One board for all sensors◦ Still needs 3 separate ICs

Inspiration

Invensense’s MPU6000

3 axis gyro 3 axis accelerometer Digital Motion

Processor◦ Just raw data for now

No alignment All digital MPU9000 coming soon

◦ Includes magnetometer

Special Sensor

Preliminary data logged◦ Unfortunately.. Lost data

Real data needs a fully assembled frame◦ Motor vibrations◦ Current magnetic fields◦ Finish up this weekend

Sensor status

Nearly assembled◦ T-Teched mount plate◦ McMaster parts ordered

Controller board hw 90% operational◦ Found a mistake on Xbee tx/rx◦ Might make a version 2

Eliminate mag board◦ Board is in rough shape◦ White wires

Flying?

Kalman filter◦ Corrects long term errors◦ Estimates sensor biases◦ Uses accels and mag as reference sensors◦ Need to tune against real data w/ motors running

Controller◦ PID loops

GPS Dropping mechanism

Flying?