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Nomad presentation Nomad presentation Presentation Transcript

  • NomadAn Embedded Systems Design III ProjectMichael BrockhurstRobert Brockhurst
  • Video
  • To create a small, lightweight, and easy-to-use UAV thatcould act as a personal cameramanSmartphone controlledSend commands for activation, flight mode, and behaviorReceive and record streamed video from camera mounted onthe UAVAutonomous MovementFollow the GPS signal from the smartphoneImage processing for object/face trackingWhat We Wanted to Create View slide
  • Reporters and Film MakersCheaper than hiring a personEasy maneuverability and recording when documenting inremote areasMilitary ApplicationsCan get a bird’s eye view of immediate areaScout out dangerous areas quicklyOverly Protective ParentsFollow your child to/from the bus stop/schoolHobbyistsTarget Consumers View slide
  • General DescriptionHardwareAeroQuad Typhoon FrameAeroQuad 32 Baloo BoardAccelerometerBarometerMagnetometerHitec Transmitter and ReceiverRoving Networks WiFlyAnalog Video Camera withTransmitter and ReceiverMaxSonar EZ0 Ultra Sonic RangeFinderiPhone
  • General DescriptionSoftwareiPhone AppConnect and Disconnect from WiFly UnitWrite various commands with keypadinputSpecific ControlsEnable Serial CommandsMotorsAltitude HoldAuto-LiftoffAuto-LandPID TuningAltitude HoldAttitude ModeYaw Configuration
  • Detailed DescriptionHardwareAeroQuad 32 Board is the hubElectronic Speed Controllers(ESCs) receive commands tocontrol motorsTransmitter/Receiver is 4-ChannelWiFly used for wireless serialcommunication over ad-hocnetworkRange Finder provides analogsignal for altitude monitoring
  • Detailed DescriptionFlight SoftwareFlight SoftwareC code#define NOMAD_ENABLE signalenables all Nomad related functionsProcesses higher priority tasks at agreater frequencyMost changes made to:FlightControlProcessor.hFlightCommandProcessor.hSerialCom.hDifficult to work withAlmost everything globally definedNo class hierarchy/structureNo comments
  • Detailed DescriptioniPhone AppDeveloped in XCodeObjective CStoryboards allowed easyplanning of UIiPhone simulator allowed forquick testingViews – each visible areacontrolled by a view controllerGCD Async Socket used forasynchronous communicationwith WiFly
  • RetrospectiveWhat We WantedQuadcopter built and flyingstablyWireless communicationbetween quadcopter andiPhoneVideo streaming to iPhone appAutonomous flight withtrackingWhat We CompletedCompletely built frame withESCs, motors, and AeroQuad 32BoardWireless Communication forseveral new commands andefficient PID tuningAnalog video streaming to aT.V./monitorAuto-liftoff and Auto-landingfunctionality
  • RoadblocksNo battery for 2+ weeks after completing construction offrameBattery connector not fitting power harness connectorXcode required Mac OS and authenticated code signingAltitude hold and stable flightBarometer completely unreliablePID tuning ineffectiveOrdered wrong type of cameraNeeded serial but got analogMultiple crashes caused malfunctionsRetrospective
  • RetrospectiveLikes / DislikesLikesFun to play with quadcopterConstructing the frame with the ESCsand motorsCrashing!DislikesFrustrating source flight softwareVery little documentationObjective CPID tuningCrashing…What we learnedBasic PID control systemsRC communicationWireless serial communicationiPhone app developmentStopping propellers going fullspeed hurts even with gloveson
  • RetrospectiveTo Future ESDIIIersDo lots of researchGet the right partsOrder parts earlyPick parts that have clear anduseful documentationPlan aheadFollowing Jira tasks help you toknow what to doTake care to update the blogDoing it again…Choose a different quadcopterkitDo more specific researchCameraGPS/trackingDon’t use iPhone
  • iPhone app movement commandsPosition hold using GPSAutonomous tracking/followingVideo streaming to iPhoneVarious Flight ModesPan/Tilt and camera stabilizationiPhone audio/video recordingCollision detection and avoidanceFuture Work