The ASD is an Aerial
Surveillance Drone
that is designed for use
by corporate or
military projects.
 The ASD provides
advanced
reconnaissance and
much needed intel on
tactical locations.
 Autonomous drones
are expendable.

Fully constructed quad-copter
with limited capability.
This includes:
•Designed and constructed
frame and test area
•Hover function
•Balance function
Fully constructed and functional quadcopter
This includes:
•Hover and Balance functionality
•Turn left/right
•Ascend Descend
•Wireless communication established
A completed quad-copter with mounted
camera and fully autonomous
functionality.
Ryan
Software
Algorithm development
Software development
Hardware
Daniel
Motor mount design
Prop mounting
Material testing
PCB Design
Core circuit design
Peripheral design
V1 and V2 board layout
Power Systems
Primary and auxiliary
power design
Andy
Documentation
and Budget
CDR compilation.
Resource tracking
Timesheet upkeep
Hardware
Frame construction
Test Design
Construct test area
Travis
PCB Design
Ken
Software
Lead software design
Software development
Algorithm design
Hardware
Frame design
Material research
Core circuit design
Peripheral design
Circuit construction
Software
Software development
Test Design
Test area design
Test data collection
Bought Items
LiPo Balance Charger
EDF Outrunner motor
Brushless heli motor
Turnigy EDF Outrunner
GWS EP Propeller 127x76mm 6pc.
Thunder Power 2250 mAh LiPoly
Tenergy LiPo Battery Tester
Heli Series ESC (motor driver)
E-Flite Balance Adapter Cables
balancer connectors
PVC40 PIPE and Tees
Nets
Motor Collars
Tax
Xbee Explorer USB
Arduino Uno SMD
Inclinometer Dual 1G
IC MCU AVR32
Xbee Antenna Chip
IC 3 axis accelerometer
40 MHz Crystal 18PF
shipping and tax
Carbon Fiber Tube
shipping and tax
Carbon Fiber Sheet
Part
EXTR7595
HK90132
TP2415-07T
T26101C4000
GWS-DD-5030
LP-TP2250-3SP30
EFLA229
WRL-98687
DEV-10356
551-1003-1-ND
AT32UC3B0256
XB24-ACI-001-ND
497-8549-ND
535-10650-1-ND
SM4548F
WCC-T0151116
Qty
1
1
1
1
1
2
1
1
1
3
1
3
3
1
1
1
1
2
2
2
2
1
1
1
1
Cost
42.89
9.99
11.99
13.45
3.4
57.99
16.24
15.12
7.99
3.25
38.04
14.99
2.59
4.38
24.95
36.05
64.62
12.52
19
5.12
1.65
9.58
44.55
15
22.99
Total+tax
42.89
9.99
11.99
13.45
3.4
115.98
16.24
15.12
7.99
9.75
38.04
44.97
7.77
4.38
24.95
36.05
64.62
25.04
38
10.24
3.3
9.58
44.55
15
22.99
The total Spent amount for the
quad copter test and build is at
$932.75 of the asked for $1100.
We are finished in buying the
critical components except for
the printed PCB.

AT32UC3B0256
› AVR32 Architecture
› 32kB Program
Memory
› 256kB Flash Memory
› USB Bootloader
› Up to 66MHz Clock

General Purpose IO
› 44 GPIO Pins
› Secondary
Functions
PWM Output
SPI Bus
USB Interface
Analog to Digital
Converter
 USART





XBee
› Indoor Range – 30m
› 2.4 GHz Operating
›
›
›
›
frequency
TX Current – 45mA
Rx Current – 50mA
UART Interface
3.3V Supply
Required

Ping))) Ultrasonic
Distance Sensor
› 2cm – 3m
› 30mA supply current
› 5V Supply
› Timed Response
Pulse
› Only requires one IO
pin

Main functions (Purple)

› demo(): calls the control
›
›
›
›
›
and led functions in a
specified order to demo
the capabilities of the
quadcopter
patrol(): similar to demo
but will follow the
beacons for navigation
remote(): handles remote
control input
kill(int killSig): shuts off all
operations immediately if
the killSig variable is true
launch(): launch
sequence
land(): landing sequence
LED functions (Red)
› blink(int led): sets the
selected led to blink
› on(int led): turns on
selected led
› off(int led): turns off
selected led

Motor functions (Blue)
› mControl(int motor, int
speed): sets the motor to
the speed given by
changing the
corresponding mArray[]
index

Control functions (Grey)
› balance(): constantly
› zMove(int alt): move to
›
›
›
›
given altitude alt
xMove(int dist): move in
the x direction to given
distance dist
yMove(int dist): move in
the y direction to given
distance dist
rotate(int deg): rotate
by given degree value
hover(): sets the copter
into hover mode
›
›
›
›
›
adjusts the copters set
calibration variables set
by the calArray[]
xAdj(): changes
calArray[0] if needed
yAdj(): changes
calArray[1] if needed
zAdj(): changes
calArray[2] if needed
iAdj(): changes
calArray[3] if needed
jAdj(): changes
calArray[4] if needed

Sensor functions (Yellow)
› altRead(): reads altitude
› xRead(): reads x
›
›
›
›

acceleration
yRead(): reads y
acceleration
zRead(): reads z
acceleration
iRead(): reads tilt in i
jRead(): reads tilt in j
Wireless Com functions
(Green)
› rxLED(): handles rx from LED
Mode button, cycles
through on, blink, and off
› rxKill(): handles requests from
›
›
›
›
›
kill switch, sets killSig to 1 (0 is
no kill sig)
rxHover(): handles requests
from hover, overides all
commands and calls hover()
rxLR(): handles requests from
Left and Right buttons
rxUD(): handles requests
from Up and Down buttons
rxFB(): handles requests from
Forward and Backward
buttons
rxLL(): handles launch and
land requests

Main body
› 2 carbon fiber plates
› IC board mounted to
top

Mounting Hardware
› 4-40 screw size
› 4 standoffs (plastic)
› 4 spacers (plastic)
› 4 nuts (plastic)
› 12 arm mount screws

Battery
› Mounted in
between plates

Arm mounts
› Delrin (Acetal)

Arms
› Carbon fiber tube
.45”
› 6“ (5” pictured)

Motor Mounts
› Delrin (Acetal)
 High strength and
rigidity
 Light weight
› Motors mounted on
inside of tube

Motors
› Mounted through
the lid of a box
› Tested the I-V
characteristics
› I-V graph is for
unloaded motor
V(mV)
I-V Vs. PWM
I(mA)
1400
1200
1000
800
600
400
200
0
80
100
120
140
PWM signal
160
180
Motors
RPM Vs. PWM
12000
› We used a
tachometer to
measure RPM
› RPM chart for
loaded motor
y = 396.74x - 36133
R² = 0.9676
11000
10000
RPM

9000
8000
7000
6000
106
108
110
112
114
PWM signal
116
118
120
122



5’ foot cube made
from PVC pipe
Cube will be
surrounded by a net
Quadcopter will be
tethered to the
ground

Balance testing
› A stand will hold
two opposing arms
in place
› The other arms are
free to move.
› This allows for
actuation in one
plane
› We can use this to
hone in balance
control

Broken components

› We ordered
› Adjust schedule for
doubles of most


revision
› Arduino last resort
Over budget
› Remove camera
Structural failure
› Evaluate material
choices
Controller failure

Controllability
› Expect major delays
› Test cage for safety