SmartCopterGroup #3

Alvilda RolleBrian Williams

Matthew Campbell

SponsorsNelson Engineering Co

Rogers, Lovelock, and Fritz Architecture

University of Central Florida

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 18F4550– 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– USB capabilities– ICSP Programming ability

Microcontroller

MicrocontrollerMore Hardware

32k 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

TESTING

Financial burdenMaintain structural integrityTimeline setbackCrash could result in potential failure

TESTING PROCEDURES

Flight SimulatorManual Flight ControlsUltrasonic Range FinderGPSHeliCamSoftwareRF SystemWireless Transmission

FLIGHT SIMULATORFlight simulator testing will allow the

team to learn the fundamentals of the helicopter flight controls.

FLIGHT SIMULATORCrashing the actual helicopter is a must to

avoid!Upon successful completion of the flight

simulator, the team will fly the actual helicopter.

TESTING LOCATIONProper testing

locationLarge areaMinimal trafficTerrain composition

Soft soil Grass

Close proximity to two team member’shomes

TESTING ACCOMODATIONSMaximize productivity and efficiency on test

days.Additional batteries

Transceiver Helicopter

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