Final PresentationSETH NYDAMIMDL DR. ARROYO AND SCHWARTZ

Agenda

• Objective

• Final Design

• Electrical FBD

• Software Flow Chart

• Design Changes

• Done

• To finish

Objective

• Locate drop bin in open field

• Drop payload into the bucket

• Return home

Final Design

• Arduino Mega

• Multiwii flight controller

• Odroid• 480p camera• 2 ultrasonic

sensors• Drop

mechanism

Electrical4.5 amp-hr 3S Lipo(65C, 12.6-11.1V)(Max 292.5 amps)

4X 30A max ESC Max 20.5 AMPS4X 1100kv

Turnigy Motors

Multiwii Flight controller

5V, max 3 amp BEC

Castle BEC Pro Power converter

Castle BEC Power Converter

Arduino Mega

9V, 10A max

Odroid

Gimbal Servos

Dropper Servo

5V

5V, 2A5V

Ultrasonic Sensor

5V

Tx

5V

Soft

war

e

Odroid

Arduino Mega

Start Arduino Ready?

Start Handshake

Ready

Start Camera

Yes

No

ObtainImage

Success

Unsuccessful

Threshold Image

Convert to Binary Fill Holes

Centroid of the object

using moments

Object detectected?

(Moment != 0)

WanderNo

Calculate Heading based on centroids

distance from X center

Aux 1 or Aux 2 High?

Calculate RC ValuesFrom Tx

Aux 1

Multiwii Flight Board

~ Receives RC values over serial~ Stabilizes Aircraft~ Preprogrammed

Land NOW!(Throttle

decreases to 0)Aux 2

Front ultrasonic

Distance < 1.5 meters?

Neither

Pitch = 1400(Move back)

Yes RC Values

Obtain headingNo

Heading

RC Values

YesDetected before?

No

Passing over Object

Yes

Interupt

Use bottom sensor to

detect edge of box

InteruptDrop Payload Report finished

Object now home

Design Changes

• Arduino mega instead of Uno• More interrupts• More than 1 serial port• More I/O pins

• Bin with multicolor LEDS

• DIY legs

• Drop mechanism much simpler, reduced moment

Done

• Hardware is fully complete

• Electrical is fully complete

• Arduino software is fully functional maybe just tweaking and optimizing, interrupts work, serial com with Multiwii

• ODROID can track object give heading to Arduino

• PID tuning done

To Finish

• Search for the object

• Serial between ODROID and Arduino fix, (sometimes get multiple errors)

• Drop sequence (often drops it outside of the bin)

• More LEDS on objective locations

• Return home function