Senior Project Report
Quadrotor Unmanned Aerial CopterCam System
(Q.U.A.C.S.)
Jeff Ramos
Joshua Olds
Nelson Mankey
IT Crowd
College of Engineering and Information Sciences
DeVry University, Fremont
1
Title:
QUACS: The Standalone Quadcopter Solution
(This document contains 53 sheets including this title page)
Design Team: Jeff Ramos
Name
Electronics Engineering Technology
Program
Signature
Joshua Olds
Name
Computer Engineering Technology
Program
Signature
Nelson Mankey
Name
Electronics Engineering Technology
Program
Signature
Submittal Date: 6-17-2013
2
Contents
Executive Summary
7
Introduction
8
Statement of Problem
9
Design Objectives
10
Technical Approach
Identifying Needs of Customers
Identifying Target Specifications
Generating Design Concepts
Selecting Design Concepts
11
12
13
14
15
Design Alternatives
16
Test Plan
Flight Duration Test
R/C Range Test
Video Transmission Range Test
Base Station Solar Charge Rate
Base Station Results
Quadcopter Results
Testing Results
18
22
23
23
23
24
24
24
Risk Analysis
27
Project Management
Deliverables
Budget
Communication and Coordination with Sponsor
Team Qualifications
29
29
31
32
33
Conclusion
33
Product Revisions
33
3
Appendices
36
References
48
Resumes of Team Members
Jeff Ramos
Joshua Olds
Nelson Mankey
49
49
51
52
Photo Gallery (Eye Candy)
54
4
List of Figures
Fig. 1—Three quadcopters shown for size comparison and appearance.
6
Fig. 2 – Altair UAV
8
Fig. 3 Charger to Battery Voltage Chart
25
Fig. 4 Charger to Battery Voltage Grid
25
Fig. 5 – Base Station Load Voltage Chart 1
26
Fig. 6 – Base Station Load Voltage Grid 1
26
Fig. 7 – Base Station Load Voltage Chart 2
27
Fig. 8 – Base Station Load Voltage Grid 2
27
Fig. 9— Project Gantt Chart
30
Fig. 10— Quadcopter Cost Breakdown
31
Fig. 11– Base Station Cost Breakdown
32
Fig. 12 – Revised Gantt Chart
35
5
Appendices
Atmel ATmega 2560-16AU Specifications
36
BMA180 Digital Triaxial Acceleration Sensor Specifications
37
BMP085 Barometric Pressure Sensor Specifications
38
Turnigy Plush 40A Electronic Speed Control Specifications
39
Hobbyking 900Mhz 500mW Video TX/RX Specifications
40
HMC5883L Triple Axis Magnetometer Specifications
41
ITG3205 Triple Axis Gyro Specifications
42
Turnigy D3536/9 910KV Brushless DC Motor Specifications
43
DX6i 6-Channel Full Range 2.4Ghz Radio Transmitter Specifications
44
MultiWii PID Block Diagram
45
LiPo Battery Voltage vs. Discharge Rate Graph
46
Base Station Charging/Regulating Schematic
47
6
Executive Summary
Of the multitude of Unmanned Aerial Vehicles (UAV’s) available on the market today,
none manage to surpass the affordability or accessibility of the Quadrotored Helicopter, or
“quadcopter” for short. The typical quadcopter consists of a cross shaped frame with four
independently controlled rotors, one on each of its 4 arms (Fig. 1). The onboard flight controllers
rely on a programmed microcontroller in serial with Electronic Speed Controllers (ESC’s) to
determine thrust, direction, yaw and pitch. In aeronautics terms, the quadcopter is classified as a
Verticle Take Off and Landing (VTOL) craft and warrants the ability to hover indefinitely in
place.
Fig. 1—Three quadcopters shown for size comparison and appearance.
To the general population, the quadcopter is highly favorable to its UAV predecesors
due to its compact size, signifcant affordability, and precise manuverabilty (Suh 2003). One
aspect that makes this device so accessible to consumers is the huge advantages derived from the
flight controller coding being widely open source. Therefore, one does not have to generate and
develop their own diffrencial equation-based algorithms in order to get a consistent flying
7
behavior. Professionals and hobbyists worldwide have submitted their workable code based on
unique testing environments and purposes. This allows even a novice programmer access to
participate in this open source conglomorate. It is no surprise that the quadcopter has gained so
much popularity.
The scope of this project is to continue the deleopment and prosperity of these devices.
We have accomplished this by contributing a utilitarian resource for quadcopters. We aim to
achieve a standalone quad copter support system, designed completely around customer need.
Our plan includes a customization Graphical User Interface (GUI) for informed component
selection and performance calculator that will output a quadcopter built to the exact
specifications. We then pair that quadcopter with a solar powered deployable base that will
provide charging capability to additional batteries, and powered accessories.
Introduction
The conquest of flight is a triumph that humanity has enjoyed now for over a century.
Flight is something we now experience in a plethora of shapes and forms ranging from
commercial 747's on down to the flying squirrel suits (aka Wing Suits) developed by diehard
base-jumpers.
However, in this modern age, it is possible we are glimpsing what may be the final days of
manned flight.
With the advent of the unmanned aerial vehicle (UAV) enormous
potential has been created towards the preservation of human lives. As its
namesake suggests, a UAV requires no onboard pilot and can be remotely
This Altair UAV has a wingspan of 86 feet,
can reach altitudes over 55,000 feet, and
can stay airborne for up to 44 hours.
8
piloted via remote control or strictly autonomous programming—having no pilot whatsoever.
Currently, UAV's serve in a wide range of capacities including combat duty, land surveying, air
quality control, disaster relief, and not to
Fig. 2 – Altair UAV
mention just for pure recreation (Freedman, 2012). However, it is not too modest to consider the
number of practical applications to be almost without limit.
In actuality, the do-it-yourself UAV market has exploded in recent years. For a meager
investment by today’s standards, one can purchase their own flying platform and put it to use as
they see fit—for work or for pleasure. Mary Cummings, an MIT Aeronautics Professor and
former F/A-18 pilot, was quoted “[Ongoing UAV development] is the best thing to happen since
the space race…a technology with low cost of entry that anyone with a cell phone can use.” Very
soon, experts predict the capabilities of a “refrigerator-size, multi-tens-of-thousands-of-dollars
drone…will be doable soon with a shoebox-size, multi-hundred-dollar version” (Freedman,
2012). With this news, one can imagine the myriad of potential the average consumer might find
beneficial from owning such a craft.
Statement of Problem
The industry has already proven that the quadcopter platform is extremely versatile and
capable of solving a multitude of problems creatively and affordably. One of the most popular
uses of a quadcopter platform is for the purpose of streaming aerial video. However, this
application is very limited due to two major setbacks in the quadcopter design. The first downfall
of the quadcopter platform is that it is notorious for short flight times, mainly due to the delicate
balance between battery capacity, flight performance, and weight. Second, for a quadcopter to be
9
piloted using streaming aerial video, the pilot must use a base station equipped with a receiver
and display for viewing the video stream.
The conventional quadcopter must obey the laws of physics, including thrust to weight
ratios, just as any other aircraft would. This being said, there are not many options for improving
the flight time of the platform. If you increase the battery capacity, you proportionately increase
the weight, netting you no additional flight time. Conversely, if you strip the quadcopter of all
accessory components to optimize weight, you diminish the ability for it to complete useful
tasks. Additionally the industry has already optimized structural weight to a degree that leaves
little room for design improvement.
At the absolute minimum, a base station needs to provide the pilot with a live video
display and clear video reception. However, the need for this base station inherently limits the
quadcopter’s mobility by requiring additional equipment and power sources. The need for an
external power source can be alleviated with the use of battery packs. Unfortunately, this places
another limiting factor on the system’s run time.
This leads us to the conclusion that we cannot fundamentally optimize the quadcopter for
longer flight times, nor can we simply eliminate the need of a base station due to the need for
live video support.
Design Objectives
1. Create an affordable, efficient, flying camera platform that is capable of recording highdefinition video in flight, as well as transmitting a live video feed up to 100 meters.
10
2. Build a regenerative mobile base station capable of receiving a live video stream and
powering all the components and accessories needed without an external source.
3. Build a system that unites the quadcopter platform with a modular base station design
that is capable of extending the quadcopter’s flight time.
Technical Approach
To create a reliable flight platform that meets the design objectives we have set above, we
will be using a quad-rotor helicopter design. This design is comprised of a central body and four
arms extending in an ‘X’ pattern from the body. The central body will house the electronics for
the platform, as well as the camera recording equipment. The arms will support four
electronically controlled brushless motors. These motors will drive 10 inch propellers to provide
thrust for the platform.
The electronics will consist of a flight control board, four electronic speed controllers
(ESC’s), a camera system, a radio receiver, a video transmitter, and a battery. The flight control
board will utilize an onboard gyroscope and accelerometer to gather the position and acceleration
of the platform. It will then use this data to calculate the thrust needed from each motor to level
the platform. The flight control board then sends this data to the ESC’s. The ESC’s will use this
data to control the speed of the motors, and thus level the platform.
This flight leveling system will ensure that the platform is stable for the video recording;
however, it still requires a user to operate the platform. To do this, a user will be equipped with a
2.4 GHz radio transmitter that will transmit a control signal to the onboard receiver. The receiver
11
will send the transmitted data to the flight control board which will then adjust the automated
flight leveling data to provide the user with stabilized control. We will also include a toggle able
‘Manual Mode’ that will allow the user to take full control of the platform, effectively shutting of
the flight leveling system.
We will also be designing a portable self-sufficient base station to go along with the
quadcopter platform. This base station will consist of a video receiver, LCD display, solar
panels, and a battery. The video receiver will be running at the same frequency as the quadcopter
platform’s transmitter. This will allow us to receive the live video from the quadcopter. The
small LCD screen will then be used to display the live video. The solar panels will be attached to
the battery through a charging circuit allowing us to charge the battery when the platform is not
in use, as well as to provide some extra power to take the load off of the battery when the
platform is active. The base station will also have a built in charging circuit for charging the
quadcopter platform’s flight batteries when connected to an external source. This charging
circuit will be design with the ability to simultaneously charge multiple batteries for less down
time between flights. This will eliminate the need for any external hardware besides the base
station and the quadcopter platform itself. The quadcopter platform in combination with our
custom base station will give users a platform that meets all of our design objectives.
Identifying Customer Needs
We identified the needs of the customers by observing the current procedures for those
seeking to acquire a video feed in locations that were previously inaccessible to the average
consumer. We observed that there are no cost-effective ways of getting aerial video and
photography shots without the use of complicated professional systems or aerial vehicles. We
then looked into the market for solutions to this problem and saw that there are products for
12
aerial photography, but none that are affordable to the average user while still fulfilling the
consumer’s needs. Our product will offer a solution that is not only affordable, but reliable and
reusable as well. The consumer will need a way to see first-hand what their aerial vehicle is
recording. This is because many applications will require the user to control their quadcopter
without being within line of sight. The consumer will also need easy mobility since many
applications require one person to be complete a task in a remote location. Without a
complimentary system the quadcopter’s downfalls would surpass its benefits and it would not be
able to accomplish the user’s needs.
Identifying Target Specifications
The first major specification that we decided the platform must fulfill is that the
quadcopter must be stable enough in its design to allow for a clear video feed. If the platform is
unstable or has too many vibrations, the video recording will not be clear enough for use in most
applications. If the platform meets this specification, it will also be stable enough to allow for
easy control. This, in turn, will help reduce the skill required to pilot the platform, and will make
it more accessible to consumers.
The flight platform must also have the ability to transmit a live video feed up to 100
meters. This is imperative as it allows the platform to be used for numerous applications that
would be otherwise impossible. This greatly increases the versatility of the platform and opens
the product to a much larger market.
In addition to having stable flight and clear video, the platform must be capable of long
flight times and cannot sacrifice mobility or affordability to meet this specification. While we
cannot extend the capacity of the batteries on the flight platform, we can design the base station
to include extra batteries for quick on-field replacement. The base station must be designed with
13
the ability to carry enough extra batteries for one hour’s flight time while still being mobile
enough to use in the field.
The base station must also be able to charge multiple flight batteries when connected to
an external source. This will allow for less down time between flights, and also makes the base
station a comprehensive system. This will eliminate the need for any external hardware.
Finally, the base station must not be a limiting factor on the flight time of the system.
This means that the base station must never run out of power before the quadcopter does. This is
imperative as the base station will provide a display for the quadcopter’s live video feed. It must
also be able to play back recorded video after flights without worrying about battery life.
Generating Design Concepts
Based on our design objectives, we know that we would need a platform capable of stable
flight and live video streaming. There are many designs that would meet these objectives, and all
of them are based on a multi-rotor helicopter platform. It would be possible to use quad, hexa, or
even octacopter designs. These designs utilize four, six, and eight propellers respectively. The
design could also be made of a variety of materials such as balsa wood, aluminum and even
carbon fiber. These material choices all have different strength to weight ratios and will have a
profound effect on the performance and battery life of our design. Any of these designs would be
able to lift the equipment required for first person video, and would be stable enough to suit our
needs.
In addition, we know we require the use of a base station for playback of the live video
and to support the quadcopter platform. Base stations can vary in complexity and design, from
expensive setups with multiple long range directional antennas, to cheap pocket stations
consisting of only a receiver and screen. The video playback can also be approached in many
14
ways. It is possible to use first-person view goggles that connect directly to the video receiver.
These goggles would even eliminate viewing interferences like sun glare. Any of these base
stations would be sufficient for basic viewing purposes.
Selecting Design Concept
All of the design concepts that we described above are very flexible and have their uses
in different applications, however, only our final platform fully meets our design objectives. We
decided on a system that combines the use of both a lightweight and efficient quadcopter
platform with the utility of a comprehensive base station.
We chose to use a quadcopter design over hexa or octacopter designs due to the fact that
a quadcopter is simpler and more efficient. The quadcopter design is inherently lighter due to
having a lesser number of arms and motors than the larger models. It is also much cheaper and
easier to maintain because there are less parts involved in the system. It would have cost us up to
40% more to use a hexacopter design and up to 80% more to use an octacopter design. Even with
the smaller number of arms and motors, it is still able to carry the load we require while
maintaining its stability. We also chose to use carbon fiber for the frame as it has a strength to
weight ratio five times that of balsa wood, and nearly ten times that of aluminum. This will
ensure that our design is as light as possible while still maintaining a structure strong enough to
withstand the forces created while in flight.
We decided to use a comprehensive base station to help us neutralize the problems
inherent in the quadcopter design. The biggest limitation we saw was that quadcopters do not
have long flight times. We knew that we could not solve this problem beyond optimizing the
quadcopter’s weight, so we looked to the base station for a solution. By including room for
multiple extra batteries and a charging system capable of charging multiple batteries
15
simultaneously, we were able to curb the drawbacks of the short flight time. The use of a small
LCD screen instead of goggles allows us to reduce costs and allow other people to view your live
video stream. We also wanted to prevent any occurrence of the base station being the limiting
factor on flight time. To solve this, we included a solar panel charging system to charge the base
station’s battery as well as to prevent the system failing while in flight. This also allows the
system to playback your recorded video once the flight is complete without having to worry
about battery life.
Our design, however, is not without its delimitations. The choice of a quadcopter design
leaves us with no motor redundancy. In a hexacopter or octacopter design, one or more motors
can fail and the platform can still stay airborne. If any motors on our platform fail, the
quadcopter will not be able to continue flying. However, this design choice was necessary to
keep costs at an affordable level and flight times at a maximum. The LCD screen on our base
station is also a delimiting factor. The use of an LCD screen makes our base station susceptible
to sun glare and other external factors that could make it hard to view the video feed. This was
necessary to allow other observers to view the live video, and again to ensure we kept costs
down.
Design Alternatives
Based on our design objectives outlined previously, we know that we would need a
platform capable of stable flight and live video streaming. That is the most basic requirement of
our project. While we highly favor our proposed choice of design, there are many designs that
would meet these objectives, and all of them are based on a multi-rotor helicopter platform. It
would be possible to use quad, hexa, or even octacopter design and accomplish this goal. These
designs utilize four, six, and eight propellers respectively. The design could also be made of a
16
variety of materials such as balsa wood, aluminum and even carbon fiber. These material choices
all have different strength to weight ratios and will have a profound effect on the performance
and battery life of our design. Any of these designs would be able to lift the equipment required
for first person video, and would be stable enough to suit our needs.
In addition, we know we require the use of a base station for playback of the live video
and to support the quadcopter platform. Base stations can vary in complexity and design, from
expensive setups with multiple long range directional antennas, to cheap “pocket” stations
consisting of only a receiver and screen. The video playback can also be approached in many
ways. It is possible to use first-person view goggles that connect directly to the video receiver.
These goggles would even eliminate viewing interferences like sun glare. Any of these base
stations would be sufficient for basic viewing purposes.
We chose to use a quadcopter design over hexa or octacopter designs due to the fact that
a quadcopter is simpler and more efficient. The quadcopter design is inherently lighter due to
having a lesser number of arms and motors than the larger models. It is also much cheaper and
easier to maintain because there are less parts involved in the system. It would have cost us up to
40% more to use a hexacopter design and up to 80% more to use an octacopter design. Even with
the smaller number of arms and motors, it is still able to carry the load we require while
maintaining its stability. We also chose to use carbon fiber for the frame as it has a strength-toweight-ratio five times that of balsa wood, and nearly ten times that of aluminum. This will
ensure that our design is as light as possible while still maintaining a structure strong enough to
withstand the forces created while in flight.
We decided to use a comprehensive base station to help us neutralize the problems
inherent in the quadcopter design. The biggest limitation we saw was that quadcopters do not
17
have long flight times. We knew that we could not solve this problem beyond optimizing the
quadcopter’s weight, so we looked to the base station for a solution. By including room for
multiple extra batteries and a charging system capable of charging multiple batteries
simultaneously, we were able to curb the drawbacks of the short flight time. The use of a small
LCD screen instead of goggles allows us to reduce costs and allow other people to view your live
video stream. We also wanted to prevent any occurrence of the base station being the limiting
factor on flight time. To solve this, we included a solar panel charging system to charge the base
station’s battery as well as to prevent the system failing while in flight. This also allows the
system to playback your recorded video once the flight is complete without having to worry
about battery life.
Our design, however, is not without its delimitations. The choice of a quadcopter design
leaves us with no motor redundancy. In a hexacopter or octacopter design, one or more motors
can fail and the platform can still stay airborne. If any motors on our platform fail, the
quadcopter will not be able to continue flying. However, this design choice was necessary to
keep costs at an affordable level and flight times at a maximum. The LCD screen on our base
station is also a delimiting factor. The use of an LCD screen makes our base station susceptible
to sun glare and other external factors that could make it hard to view the video feed. This was
necessary to allow other observers to view the live video, and again to ensure we kept costs
down.
Test Plan
This document describes a test plan for conducting a test during the development of the
Q.U.A.C.S. System. The goals of testing include establishing a baseline of system performance,
establishing and validating user performance measures, and identifying potential design
18
concerns to be addressed in order to improve the efficiency, productivity, and end-user
satisfaction.
The Q.U.A.C.S. system is comprised of two major sub-systems that work in unison to
complete the unit. The first sub-system is the quadcopter aircraft itself. This aircraft has many
requirements that must be met in order to meet the testing criteria laid out in this document,
as well as our design objectives. The second sub-system is the base station. The base station
also has some criteria that must be met to ensure that the system works together in unison.
The primary function of the quadcopter aircraft that we will be analyzing is the flight
characteristics. We need to be able to determine if the aircraft is capable of stable flight and
that it is able to fulfill our design objectives. We will be breaking down this analysis into two
parts; a hardware analysis of the aircraft’s body and components, and a software analysis of the
flight control software and the PID loop.
The primary functions of the base station that we will be analyzing are its portability and
power output. We must ensure that the base station is able to power all of its components for
an extended period of time, as well as have enough excess power to charge the flight battery of
the quadcopter. We also will test the system’s portability to ensure that it is usable by a single
person in a field position.
To test the flight characteristics of the quadcopter, we need an ideal testing platform
where we can actively monitor the output from the onboard sensors and physically monitor the
vehicle for stability. This platform must allow us to test the results of various software and PID
changes and collect accurate data regarding those changes. This platform should also allow us
19
to test the system when introduced to various unknown factors, such as artificial wind and
physical contact. We will use this testing platform at regular intervals to test the stability of the
system after any hardware or software changes.
We have created a testing platform that has allowed us to be able to test the
quadcopter on many levels. We have been able to monitor all of the sensor outputs as well as
the stability of the system as a whole. We have implemented a test using this platform after
every hardware or software change to the system. The objective of this test was to ensure that
the system is stable enough to meet our design objectives.
We have also designed a set of test criteria for the base station to ensure that it meets
our design objectives. The first test platform consisted of running a constant monitor over the
circuit to see the ability and limitations of the circuit. The second test platform was be an ideal
range test of the wireless video transmission. We will choose a specific location that is free of
visual obstructions and relatively free of wireless interference. We will ensure that we use the
same location for each test.
Both the base station tests will take place in the both indoor and outdoor environment.
We used the multimeter equipment to measure the voltage and amperage coming from the
solar panel to the base station as well as from the base station to the batteries and finally from
the base station to the onboard peripherals. This information allowed us to see how efficient
our circuit was as well as determine the limitations. In addition to that there were temperature
readings to make sure that the circuit would not over heat. We have also ensured that the base
station is capable of powering all of the peripherals as well as charge the quadcopter.
20
The quadcopter test has been implemented in an indoor location that is large enough to
house our testing platform and is free of obstacles. Our testing platform has been made up of
two structural bodies about four to five feet above the ground and about five feet apart. These
bodies were attached to the ground and immovable. We then placed the quadcopter between
those two bodies, and suspend it in the air by tying it between the two bodies. We tied it in a
way that it will be able to rotate forward and backwards freely, but not move more than a foot
in any direction. The quadcopter was connected to a laptop via a FTDI cable that will allow us to
monitor the sensor readings from the flight control board.
This setup allowed us to test the response of the PID settings in a controlled
environment. We were able to view the response to various control inputs, in addition to how
well the system stabilizes after different movements. We also were able to test how the system
responds to various external stimuli, such as being shoved or shaken by wind. As this test is
taking place, we were able to monitor the output of the sensors in real time and log the data.
This allowed us to both scientifically and practically test the system.
The information we collected from these tests will allow us to adapt the software and
hardware to fit our needs and design objectives. Most importantly, they will provide us with a
stable platform to adjust our PID software settings and ensure that everything is working as
efficiently as possible.
As described in section 4 of this document, we have two major scientific tests; one
regarding the quadcopter, the other regarding the base station. The base station test will be
implemented whenever we change the base station hardware. We will need to determine if our
21
changes affected the power output or the video transmission. When moving to a new flight
area, it will also be necessary to do a quick video range test to ensure that there is no abnormal
interference that could disrupt the video.
The quadcopter test will be implemented whenever we make a hardware change to the
body of the quadcopter, or whenever we make a software change to the flight control. This will
be to verify that the PID loop is still functioning properly and that the frame can withstand the
forces induced during normal flight. The time required for this test is ~1 hour. This is due to the
setup time required to mount the quadcopter in the testing rig, as well as the data logging time.
Once the previous two tests have been conducted and the system has been determined
to be stable. We will do a live flight test. This test can be recorded on video; however, we do
not have the means to record the sensor data during the live flight test. With the
implementation of Bluetooth transmission, we could monitor this data in real time while in
close proximity. However, due to the range that a test flight involves, this is not an option that
we plan to implement at this time.
Flight Duration Test
The flight duration test will be conducted on a windless day, using a fully charged
5000mAh 4S battery pack. The quadcopter will be ‘fully loaded’ carrying all of the final
equipment necessary for a full-featured flight. The quadcopter will be brought to a hover at
least 3 meters from the ground to ensure there is no prop blowback. The quadcopter will be
made to hover in this position until the battery no longer has enough power to sustain hover.
22
The time recorded from the hover position being achieved to landing is the operational flight
duration.
R/C Radio Range Test
The R/C radio range will be determined by powering on the quadcopter and radio as for
normal operation. The quadcopter will then be transported away from the radio on flat ground
while maintaining line of sight. The radio operator will continually send commands to the
quadcopter as the platform is being moved away. Once the quadcopter is no longer able to
receive the radio signal, the distance traveled will be noted. This is the maximum line of sight
radio range.
Video Transmission Range Test
The video transmission range will be tested in a fashion similar to the R/C radio range
test. The video transmitter and receiver will both be powered on as per normal operation. The
transmitter will then be transported away from the receiver along flat ground while maintaining
line of sight. The transmitter and receiver antennas will be oriented so that the gain is greatest.
Once the receiver loses more than 50% of the signal, the distance traveled will be noted. This is
the maximum operational video transmission distance.
Base Station Solar Charge Rate
The base station requires a constant monitoring during testing of various
measurements. To do this we used the multimeter equipment to measure the voltage and
amperage coming from the solar panel to the base station as well as from the base station to
23
the batteries and finally from the base station to the onboard peripherals. The information we
receive from that, allows us to see how efficient our circuit was as well as determine the
limitations. In addition to that there were temperature readings to make sure that the circuit
would not over heat.
Testing Results
Our results for this system have exceeded our expectations. The quadcopter and the
base station complement each other in more ways than one. Our results clearly show that this
product has fulfilled our design objectives with no issues.
Quadcopter Results
The quadcopter has met or exceeded all of our design objectives. It is able to fly stable enough
for our camera to capture clear video. It is also able to transmit this video to the base station at
up to 1400 feet. The average flight time on a fully charged flight battery is 10 to 12 minutes,
depending on how aggressively you fly. All of these flight characteristics come together to make
a perfect flight system.
Base Station Results
The base station does not only power the peripherals from both the solar panels and/or
the batteries but it also charges the quadcopter at a faster rate than we can from an outlet. It
does all of this while still being able to fit in a suitcase for mobility. This circuit is capable of
outputting over 7 amps at 16 volts for a total of over 112 watts.
24
Comprised below is a series of charts and data that are excerpts from our testing to
show exactly how successful the base station has become. Below is information from 1 ½ hour
charge.
Charger to battery voltage
14.6
14.5
14.4
14.3
Voltage
14.2
14.1
14
13.9
13.8
13.7
13.6
Charger to battery voltage
Time
1:55 PM
2:07
2:34
3:00
3:20
13.9
14
14.2
14.2
14.3
14.5
2:07
2:34
3:00
3:20
4:00
18.7
18.9
18.3
18.4
18.9
410
14
400
95
102.2
400
14.2
395
90.4
107.3
375
14.2
370
92.3
109.8
365
14.3
360
95.5
107.5
345
14.5
335
107.6
106.5
Fig. 3 – Charger to Battery Voltage Chart
Time
Beginning voltage
Solar panel to charger voltage
Solar panel to charger
amperage
Charger to battery voltage
Charger to battery amperage
Charger temp 1
Charger temp 2
1:55
PM
10.33
18.8
410
13.9
410
64.2
65.6
25
Fig. 4 – Charger to Battery Voltage Grid
As you can see the voltage increases at a reasonable rate while maintaining good efficiency. The
next figure shows how once the batteries are reaching maximum capacity that the charging circuit
begins to let give less current to the batteries until they become full where is completely stops charging
the batteries until they drop below that voltage again.
25
20
Voltage
15
10
5
0
Time
2:08 PM
2:19:00
PM
2:27:00
PM
2:47:00
PM
3:06:00
PM
Solar panel to charger voltage
18.75
18.88
18.8
19.28
20.1
20.3
Charger to battery voltage
15.01
15.17
15.35
15.38
15.39
15.4
Fig. 5 – Base Station Load Voltage Chart 1
Time
Beginning voltage
Solar panel to charger voltage
Solar panel to charger
amperage
Charger to battery voltage
Charger to battery amperage
Charger temp 3
2:08
PM
11.12
18.75
2:19:00
PM
2:47:00
PM
3:06:00
PM
3:20:00
PM
18.88
2:27:00
PM
11.53
18.8
19.28
20.1
20.3
970
15.01
930
116.9
990
15.17
860
137.6
810
15.35
620
93.8
610
15.38
460
121
335
15.39
200
96.8
280
15.4
180
92.3
Fig. 6 – Base Station Load Voltage Grid 1
The next set of information clearly shows that just running off of the batteries we will be able to
sustain the video peripherals for up to 10 hours. In the next figure you can see how in over 1 hour of the
video perpherials being on the batteries had only dropped 300 mV. It is also important to know during
this we pulled 650 mA.
26
Load Voltage
14.2
14.15
14.1
14.05
14
13.95
13.9
13.85
13.8
13.75
13.7
13.65
Load Voltage
9:22:00 9:26:00 9:35:00 9:55:00 10:15:00 10:35:00
AM
AM
AM
AM
AM
AM
Fig. 7 – Base Station Load Voltage Chart 2
Time:
Load Voltage
Receiver temperature
9:22:00
AM
14.15
80
9:26:00
AM
14.1
86.8
9:35:00
AM
14.08
92.8
9:55:00
AM
14.02
98.2
10:15:00
AM
13.94
99.8
10:35:00
AM
13.84
100.1
Fig. 8 – Base Station Load Voltage Grid 2
Risk Analysis
Like any product on the market, there are risks associated with using the platform in an
incorrect manner. This is especially true for our system since the quadcopter uses high speed
spinning blades as well as high output batteries. This could be potentially dangerous to both the
consumer as well as other people or objects around the quadcopter. This will be dealt with by
27
having a clear manual that states the directions for use to help the user clearly understand how to
operate in a safe manner. It will also include information regarding the operational conditions.
This will include, but is not limited to operating temperature, humidity, gale, lighting, and
surroundings. This product is designed for specific application under a particular environment to
operate safely. There is also a risk in the user’s ability to safely control the quadcopter. This is
why it is important to make sure that the user can safely control the quadcopter by practicing in
line of sight before using in applications. The quadcopter will also have a first person view on
the base station for ease of control. The platform will be equipped with a microcontroller that is
capable of keeping the quadcopter stable. Transmission from the user to the quadcopter offers a
risk of loss in communication when the device is too far from the controller. This was solved by
making sure the first person view transmission range was much shorter than transmission range
of the controller signal. By doing this the user will know when he/she is going out of range when
the live video feed starts breaking up. Finally the base station is a charging unit and we run the
risk of the battery over charging. This will be solved by using a latching circuit to stop charging
the battery once it has reached its full capacity. As specified early all of these risks will be
addressed in the user manual.
In addition to these physical risks, there are a few legal risks we must take into account. To
provide the live video feed at the range designated in our design objectives, our transmitter must
have a power that exceeds FCC limits for unlicensed use (FCC Part 15). This means that our
platform, when using the FPV view, must be operated by a used with an amateur radio license.
This makes the platform less accessible to some consumers; however, the platform can still be
used by everyone as long as the FPV transmitter is not activated. The FAA also states that
unmanned aerial vehicles cannot exceed an altitude of 400 feet above ground level in
28
unrestricted airspace. This is not as big of a problem, as this is about the same range that our live
video will support.
Project Management
With the input of the rest of the group the Project Manager will assign to each group
member tasks in order to make the most progress on the project. These deadlines must be met, if
any member feels that they won’t be able to meet the deadline, they must make sure that they ask
for help from a fellow group member. If we are ahead of or behind schedule, tasks will be
adjusted accordingly. When any task is completed, it will be documented in the team log, as well
as delivered to the rest of the team in a timely manner. These tasks will be assigned while
following the logical layout described in the deliverables below.
Deliverables
Focus and organization is needed to stay on schedule. This is done not just by planning,
but with organization throughout the group. This way everyone knows what needs to be done, as
well as what is done, since certain sections of the project rely on the completion of other sections
before they can start. Keeping logs of work in progress and completed will let us know who
worked on what if we need to go back and refer to their work. We have also set up a way to
share our files through the internet that can be accessed at any computer so that we will always
be able to reach and see the updated files of the project. Constant updates of the project are vital
as it gives a constant reading of our level of completion. We can always know if what we are
completing is on time if we compare what we have done with the Gantt chart. The following
29
Gantt chart (Fig. 2) shows how we have devised a plan from the planning process all the way to
testing and revising.
Gantt Chart:
Fig. 9— Project Gantt Chart
30
Bill of Materials:
When planning for parts there were strict requirements for performance to meet the consumer’s
use while keeping the price as low as posssible. This involved a large amount research as well as
calculations to get the best performance while keeping the price at a minimum. The following (Fig. 3)
shows a breakdown of our expenses and how we came up with a grand total of approximately $920 for
our variable costs.
Quadcopter Cost Breakdown
$160.00
$140.00
$120.00
$100.00
$80.00
$60.00
$40.00
$20.00
$-
Fig. 10— Quadcopter Cost Breakdown
31
Base Station Cost Breakdown
$70.00
$60.00
$50.00
$40.00
$30.00
$20.00
$10.00
$-
Fig. 11 – Base Station Cost Breakdown
Communication and Coordination with Sponsor:
Professor Singh is our project sponsor and must be kept up to date with weekly logs.
This information is just as useful to him as it is to our group, as it helps ensure that we are on
task. There are a few ways that we are able to keep this communication with him, but the best is
via email. This is because we are able to attach documents, have time stamped responses, as well
as have the ability to go back and review what anyone said for further clarification. To even
further avoid complications for the future we will be in contact personally as a team with
Professor Singh on at least a monthly basis. During these meetings we can let Professor Singh
know our plans and status as well as get feedback on our status. These meetings are also great for
questions on anything related to the project.
32
Team Qualifications:
This project entails a fairly large amount of work and planning in order to be completed
on time. Our team consists of extremely competent members that are more than capable of
completing complex problems in an organized and timely manner. This is clearly shown by past
and current work completed from each member. The IT Crowd is not just a group of students but
a team of capable pupils that have strengths that complement each member in way to make a
complete team. In the Appendix we list our exact qualifications via our resumes.
Conclusion
After extensive research and the creation of this proposal, we are confident that we will
be able to successfully design this system and meet or exceed our design objectives. We feel that
we have all the necessary experience, both technical and managerial, to complete this project in
the time specified. We genuinely believe that this system will greatly benefit the industry by
providing a creative solution to many problems. We feel that this system is easily accessible and
can help solve many issues pertinent to modern industries. We are very excited to see this project
come to fruition.
ECET 492 Product Development Plan Revisions
Upon ordering parts for our quadcopter, we had to completely redo our parts list due to
most of our previously selected parts being out of stock. We ended up going with a slightly
smaller and lighter body, the cheaper version 1 of our original choice. This was not as ideal as it
has less space to store our electronics and battery and it is not as strong of a platform. We were
also forced to buy larger 45A ESCs due to the 35A ones being out of stock. However, this choice
proved to be for the better as our motors have pulled close to 40A at max throttle. We also had to
go with a different flight controller, but we still managed to find an Arduino based system with
33
open-source software. These alternate part choices were a minor setback, but we were still able
to find parts that satisfied our design objectives.
We also had major scheduling issues that threw our project off course. The first setback
was that our parts supplier HobbyKing.com did not ship our order. They held our order for
‘processing’ for a week before we verified with them that the order was indeed valid. However,
after this time, our propellers had gone out of stock. We were able to replace them with
comparable propellers of a different color. Even with these setbacks, we were still able to catch
up to our Gantt Chart schedule. We utilized the time lost waiting for parts to ship by working on
our solar panel base station.
As of our last flight test on December 9, 2012, our quadcopter platform lost power during
flight and crashed. This was due to a bad connection between the battery and our wiring harness.
This crash resulted in a broken carbon fiber arm, and possibly other electronics that we have yet
to determine. This will set us back a considerable amount of time as we will need to order a
replacement arm and reconstruct the entire body. However, the system performed admirably
before the power loss, and we are confident that after rebuilding the system it will meet our
design specifications.
The impact of these setbacks can be seen below. Our time frame is approximately one
and a half to two weeks behind out proposed outline, but we are confident we can make up the
time in the next phase since we will be much more prepared resource-wise.
34
Fig. 12 – Revised Gantt Chart
35
Atmel ATmega2560-16AU
Specifications
Manufacturer:
Atmel
Product Category:
8-bit Microcontrollers - MCU
RoHS:
Details
Core:
AVR
Data Bus Width:
8 bit
Maximum Clock Frequency:
16 MHz
Program Memory Size:
256 KB
Data RAM Size:
8 KB
On-Chip ADC:
Yes
Operating Supply Voltage:
4.5 V to 5.5 V
Maximum Operating Temperature:
+ 85 C
Package / Case:
TQFP-100
Mounting Style:
SMD/SMT
A/D Bit Size:
10 bit
A/D Channels Available:
16
Data ROM Size:
4 KB
Interface Type:
2-Wire, SPI, USART
Minimum Operating Temperature:
- 40 C
Number of Programmable I/Os:
86
Number of Timers:
6
Processor Series:
ATMEGA256x
Program Memory Type:
Flash
Factory Pack Quantity:
90
Supply Voltage - Max:
5.5 V
Supply Voltage - Min:
4.5 V
Datasheet: http://www.atmel.com/images/doc2549.pdf
36
BMA180 Digital Triaxial
Acceleration Sensor
Specifications
BMA180 specifications:

measurement ranges: +- 1g, 1.5g, 2g, 3g, 4g, 8g lub 16g

12- or 14-bit internal DACs

2 selectable I2C addresses for minimizing address collision risk

Self-Test capability

sleep mode

internal interrupts:

o
wake up
o
low-g detection
o
high-g detection
o
slope detection (interrupt after any movement)
o
tap sensing (interrupt after two subsequent slope detections in a short time)
Datasheet: http://www.spezial.cz/pdf/BST-BMA180-DS000-03.pdf
37
BMP085
Barometric Pressure Sensor
Specifications

Digital two wire (I2C) interface

Wide barometric pressure range (300 – 1100 hPa, -500m to +9000m)

Flexible supply voltage range

Ultra-low power consumption

Low noise measurement

Fully calibrated

Temperature measurement included

Ultra-flat, small footprint
Dimensions:

0.65 x 0.65" (16.5 x 16.5 mm)
Datasheet:
http://www.adafruit.com/datasheets/BMP085_DataSheet_Rev.1.0_01July2008.pdf
38
Turnigy Plush
40A Electronic Speed Control
Specifications
Cont Current: 40A
Burst Current: 55A
BEC Mode: Linear
BEC : 5v / 3A
Lipo Cells: 2-6
NiMH : 5-18
Weight: 33g
Size: 55x28x13mm
39
900MHZ 500mW
Video Tx/Rx
Specifications
Channel: 4-Ch, AV synchronization
Power: 500mW
Input voltage: 12V
Weight: 18g
Size: 31 x 88 x 8mm
Frequency: 0.9G 0.910G,0.980G,1.010G,1.040G
40
HMC5883L
Triple Axis Magnetometer
Specifications




Simple I2C interface
2.16-3.6VDC supply range
Low current draw
5 milli-gauss resolution
Datasheet: http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/Magneto/HMC5883L-FDS.pdf
41
ITG3205 Triple Axis Gyro
Specifications
Features:
• Digital-output X-, Y-, and Z-Axis angular rate sensors (gyros) on one integrated circuit
• Digitally-programmable low-pass filter
• Low 6.5mA operating current consumption for long battery life
• Wide VDD supply voltage range of 2.1V to 3.6V
• Standby current: 5μA
• Digital-output temperature sensor
• Fast Mode I2C (400kHz) serial interface
• Optional external clock inputs of 32.768kHz or 19.2MHz to synchronize with system clock
• Pins broken out to a breadboard friendly 7-pin 0.1" pitch header
• Dimensions: 17.8x14mm
• Weight: 0.8g
Datasheet: http://www.kamami.pl/dl/itg3205.pdf
42
Turnigy D3536/9 910KV
Brushless Outrunner Motor
Specifications
Battery: 2~4 Cell /7.4~14.8V
RPM: 910kv
Max current: 25.5A
No load current: 1.5A
Max power: 370W
Internal resistance: 0.063 ohm
Weight: 102g (including connectors)
Diameter of shaft: 5mm
Dimensions: 35x36m
Prop size: 7.4V/12x5 14.8V/10x7
Max thrust: 1050g
43
DX6i 6-Channel Full Range
2.4Ghz Radio Transmitter
Specifications
Modulation:
Band:
DSM2
2.4GHz
Receiver:
AR6200
Programming Features:
Model Memory:
Modes:
Helicopter & Airplane
10
Mode 2
Transmitter (Tx) Battery Type:
Charger:
AA NiMH 1500mAh batteries (included)
4-cell 150mAh wall charger (included)
Experience Level:
Is Assembly Required:
Intermediate
No
44
MultiWii PID Diagram
45
LiPo Battery Voltage vs. Discharge Rate
46
Base Station Charging/Regulating Schematic
47
References
FAA Makes Progress with UAS Integration. (n.d.). FAA: Home. Retrieved October 10, 2012,
from http://www.faa.gov/news/updates/?newsId=68004
FREEDMAN, D. H. (2012). Attack of the Drones. Discover, 33(8), 28-29.
Marks, P. (2012). The droneliness of the long-distance runner. New Scientist, 214(2868),
24.
Part 15 - Radio Frequency Devices. (n.d.). American Radio Relay League | ARRL - The
national association for AMATEUR RADIO. Retrieved October 10, 2012, from
http://www.arrl.org/part-15-radio-frequency-devices
Shachtman, N. (2012). 5 Drones At Work. Wired, 20(7), 104.
Suh, Y. (2003). Robust control of a quad-rotor aerial vehicle. International Journal Of
Applied Electromagnetics & Mechanics, 18(1-3), 103-114.
48
Resumes of Team Members
Jeff Ramos
34793 Ardentech Court, Fremont, CA 94555
Contact Number: (510) 461-6731
Jeffr2010@yahoo.com
HIGHLIGHTS OF QUALIFICATIONS




Current GPA : 3.97
Received Herman DeVry Scholarship
IT Background
Over 2 years of customer service
PROFESSIONAL EXPERIENCE
DeVry Fremont Library, CA (2010 to 2011)
Contact Number: (510) 574-1200
Front Desk Manager






Greet customers and provide information.
Answer phones and provide customer service.
Check out/Order reading materials for customers.
Work with Microsoft Office software
Handle cash box
Keep library organized and clean
DeVry Fremont ASC, CA (2011)
Contact Number: (510) 574-1200
Electronics Engineering
Technology Tutor

Specialized in Math tutoring.




Assisted teachers in class with struggling students.
Maintained regular clients.
Organized and logged data.
Assisted in Front Desk Duties.
DeVry IT Department, CA (2011 to current)
Contact Number: (510) 574-1240
Helpdesk Worker






Greet customers and provide with information and assistance.
Answer/Make phone calls to provide customer assistance.
Handle software and hardware based problems.
Assess situations and devise a solution.
Ability to figure out problems by using general knowledge
Work with deadlines
49
EDUCATION
Corning Union High School; Corning, CA (2006 to 2010)
DeVry University; Fremont, CA (2010 to Present)
Major: Electronics Engineering Technology
50
51
Nelson Mankey
26381 Whitman Street #27
Hayward, CA 94544
559.430.5395
nelsonmankey@hotmail.com
Objective Statement
Seeking a fulfilling and challenging career opportunity to utilize my skills and creativity.
Qualifications & Strengths
 Certified interpersonal and public communicator
 Dedicated and determined worker—task-oriented and thorough
 Optimistic and charismatic personality regardless of environment
 Extensive computer software literacy—experience includes MatLab, LabView, MS Office Suite, Solidworks, and AutoCAD
 Versed in all things Mathematic and Scientific—Calculus, Chemistry, Physics, and Electronics Technology
 Proven leadership qualities in work environments as well as among peers
 Capable and impassioned engineer—studied beyond required coursework to build a greater skill set
 Adept problem solver and critical thinker
Education
 DEVRY UNIVERSITY, FREMONT, CA
Class of 2013
Bachelor of Science, Electronics Engineering and Technology
 COLLEGE OF THE SEQUOIAS, VISALIA, CA
Fall 2006—Fall 2009
70 Undergraduate and GE units completed
Certificate in Communication Studies
Work Experience
OUTREACH SERVICES, DEVRY UNIVERSITY, Fremont, CA………………………………………………………………………….February 2010—Present
Student Associate
 Aided with the design and implementation of event signage and promotion; developing visual presentations and
flyers that directly impacted local schools and communities.
TAYLOR RESIDENCE HALL, Fremont, CA…………………………………………………………………………………………….….October 2010—June 2011
Resident Assistant
 Supervised a floor of 40 residents, organized floor programs, and advised residents on personal and academic
issues. Trained new staff members. Promoted from Assistant Resident Advisor.
ME ‘N ED’S PIZZERIA, Hanford, CA…………………………………………………………………………………………………..October 2007—October 2009
Delivery Driver
 Outside the parlor: Navigated the greater Kings County area—Exemplary driving record required.
 Inside the parlor: Answered telephones, managed food orders, stocked supplies, and washed dishes.
Kitchen Employee
 Worked the front cash register; Handled money transactions and food orders.
 Maintained great customer service for all guests; worked cooperatively with fellow coworkers.
MICHAEL’S ARTS AND CRAFTS, Hanford, CA………………………………………………………………………………………October 2006–January 2007
Framing Associate
 Assigned as the only seasonal framing technician; became quickly adept with color coordinating, frame
arrangement, and dimensional manipulation.
•
52

Responsible for the framing counter register; Aptly assisted customers with craft supply related shopping as well
as typical restocking and cleaning.
HANFORD HIGH SCHOOL, Hanford, CA………………………………………………………………………………………………….August—November 2006
Marching Instructor
 Peer recommended for this position for both my skill and experience in the area.
 Responsible for the instruction and implementation of basic to complex marching techniques needed to succeed
in the very competitive sport of marching band.
Activities & Hobbies
MUSIC
Symphony, Jazz, Marching Band and Small band.
Instruments: Piano (12+ years), Trumpet (8 years), Guitar, French Horn, Saxophone
ATHLETICS
Tennis (6+ years), Marching band (6 years), Ultimate Frisbee (Always).
GLOBAL SERVICE PROJECTS
2003 - 2008: Cuernavaca, México; Los Angeles, CA; San Francisco, CA; Seattle, WA; and Pana Jachel, Guatemala.
53
Mark I
54
Mark II
55
Mark III
56
Gen. I Base Station
57