Quadcopter Presentation

1. 1
Mechanical BaseComputer ModulePower BoardController BoardLaser Scanner

2. The first level of the quad-rotor platform is the
power board.
Functions of the board:
1- Direct the power from the battery to
All the four motors.
2- Providing a regulated 5v and 3.3v to
the controller board and computer
module respectively.
3- Powering AHRS, robotic arm,
and laser scanner using 5v
regulator.
4- Sensing the battery voltage and give
an alarm when the voltage drops.

3. Design of the power board using DipTrace software

4. The second level of the quad-rotor platform is the
controller board.
The main component in the controller board is the
AVR 32bit AT32UC3C0512C microcontroller (MCU)
Functions of the board:
1- Control the attitude and altitude of
the quad-rotor and ensure that it
stay stable while it is hovering.
2- Controlling the robotic arm.

5. Design of the controller board using DipTrace software

6. Power Board
Controller Board

7. 6/15/2018Mushtaha,Zia,Farid 7
)( 2
4
2
2  blU
)( 2
1
2
3  blU
Cb  )( 2
1
2
3
2
4
2
2
)( 2
4
2
3
2
2
2
1  dU
bl
U
d
U
b
C pitchyaw
244
1 
bl
U
d
U
b
C rollyaw
244
2 
d
U
bl
U
b
C yawpitch
424
3 
bl
U
d
U
b
C rollyaw
244
4 

8. Initialize all
peripherals drivers
including:
MCU Clock
SPI
USART
PWM
END
Star
t Receive Stop
Signal?
YES
NO
Receive motors
enabling signal?
Define PID controller
Constants
Pitch P, Roll P, Yaw P
Pitch I, Roll I, Yaw I
Pitch D, Roll D, Yaw D
Read Euler Angles
from AHRS – Apply
Three Digital PID
controllers for angles
Calculate Motor Speed
4321 ,,, 
YES
NO

9. 6/15/2018Mushtaha,Zia,Farid 9
UART
Controller Board

10. URG-04LX-UG01
• About Simultaneous Localization and
Mapping (SLAM)
• Variety of slam algorithms
• Our choice of SLAM (TinySLAM)
• Consists of “map updates”+ “Closing
the loop”
A sample map using
TinySLAMMap of the Senior Room

11. • The need for an alternate
plan
• Other reasons for
considering this
Features include:
• 168 MHz Cortex M45
• Real time operating
system (RTOS)
• Built-in sensors
• Pwm outputs
• Open Source +Open
Hardware
The PX4FMU

12.  Building an interface/breakout-board for the
PX4FMU
- Xbee link, voltage regulation, servo-output pins
 Combined PPM signal inputs
 RC hardware adjustments
Turnigy 9x FrSky DJT 2.4Ghz transmitter module FrSky CPPM output reciever

13.  RC control script inside a microSD card starts a
series of applications on the FMU, each of which
perform a specific function.
 PID tuning
 Stabilization of the roll
angle achieved so far.