Camden Mendiola
Ben Houston
Monty Prekeris
Dan Rice
Dan “Klitz” Johnson
• To provide a flexible low power wireless
aerial/terrestrial network that allows the user to
survey, sense, and respond
• Useful for military, police, search and rescue
• Localized and self managed
Ben
BASE STATION
• Foundational PC Control software complete
QUADCOPTER
• Quadcopter Prototype 1.0 built and ready for testing
• Basic flight software and testing in progress
 Hover; Landing; Heading; Directional Movement
• GPS and Environmental Sensors in development
GROUND MODULE
• Part list complete
• Schematic and PCB in preliminary phase
Ben
Milestone 1:
 Basic Flight Commands
• Hover; Manual Landing; Heading
 Basic Mesh Network Capabilities
• Preliminary Integration of Modules
Milestone 2:
 Advanced Flight Commands
• Directional Movement with GPS Integration, Automatic Landing
 Advanced Environmental Sensor Integration through Mesh
Network
EXPO:
 Autonomous Flight Patterns
 Complete Mesh Network Integration
Ben
Ben
Level 0: Wireless Sensing Network
Quadcopter
Platform
User
Interface
Terrestrial
Platform
Power
Ben
Environmental
Data
Level 1.1: Quadcopter
Battery
Harness
ESC’s
Motors
Power Circuit
CPU
Radio
Comm.
Ultrasonic
Logic Converter
Environ.
Sensors
Accelerometer
Barometer
Magnetometer
Gyroscope
Ben
11.1V
GPS
5V
3.3V
PWM
Serial
SPI
(3.3V Signal)
Level 1.2: Terrestrial Unit
Gen. I/0
Analog
5V
9V
Serial
I2C
3.3V
Alarm
Battery
Power Circuit
CPU
Radio
Comm.
ADC
Air Quality
Gas Sensor
Heart Rate Monitor
Ben


Cam
Version 1 of PCB
has been
completed and
ordered.
A testing strategy
is currently in
development
Microprocessor
Motor Control Circuit
PWM
PWM
PWM
PWM
Cam
Cam
M8RXD
MOS12
SCK2
YLED2
YLED3
1
1
1
1
1
1
1
9
6
5
4
3
2
1
0
D
N
G
P
P
P
PD7
PD6
PD5
PD4
PD3
B
B
B
PB3
PD2
T8RXD
2
1
0
8
1
7
PB4
PD1
7
Cap
1
8
F
n
0
0
1
PB5
PD0
9
1
ATMEGA-A8U2
6
C14
PB6
PC2
0
2
U65
5
U
AVCC
PB7
UCAP
UVCC
1
2
G
PC7
D
N
G
C
C
V
4
D
N
G
P
P
N
2
2
3
D
C
C
D
+
4
2
-
PC6
5
3
RESET
1
L
2
L
T
X
A
D
2
V
5
XTAL1-A
A
T
X
XTAL2-A
4
2
1
2
2
2
2
2
3
3
3
Component_1
5
6
7
8
9
0
1
2
2
1
2
1
U10
2
2
2
2
2
-
6
5
1
0
7
4
1
Res2
Res2
D
N
G
R17
R16
4
F
u
1
K
1
+
D
+
D
1
J
3
C16
Varistor
-
D
-
D
2
R20
S
U
B
V
1
D
-
K
1
D
USBVCC
Varistor
+
R19
Component_1
USBVCC
2
1
2
1
9
U
F
n
0
0
1
Cap
Serial Converter Circuit
D
N
G
XTAL2-A
F
n
0
0
1
Pol1
Cap
Pol1
Cap
Cap
8
C
MC33269ST-50
6
C
7
C
1N914
Diode
F
u
7
4
F
u
7
4
Vin
3
Heatsink
Vout
4
2
Diode
Gnd
1
blackconnector
Vin
2
7
U
2
3
3
1
1
1
U
D
N
G
V
5
Power Circuit
Cam
Cam
7
2
Res2
XTAL1-A
Component_1
7
R
SCL
6
1
5
G
1
4
3
3
2
Crystal
2
2
U
SCL-L
1
1
2
2
1
1
1
1
5
6
D
N
G
0
1
4
D
N
0
1
9
9
8
8
2
F
F
2
p
C10
2
Cap
6
R
p
Res2
2
2
M
1
3.3V
7
1
D
N
G
7
1
V
5
2
Cap
?
U
SDA-L
SDA
9
C
XTAL2-A
Oscillator Circuit
Logic Level Circuit
XBee Circuit
Cam
Generate
Initial
Pulse
Chirp
Initial
Pulse
Ultrasonic
Begin
Count
Calculate
Distance
Cam
Listen
for
Echo
Stop Count
when Echo
Detected
MOSFET
Driver
Battery
PWM
Speed
Command
Cam
Motor
RPM
• Converts DC into 3 phase AC
• Back EMF used to detect
rotation
• RPM adjusted by Pulse Width
to each phase
HobbyWing FlyFun Brushless ESC
Cam
• Gyro
• Accelerometer
• Magnetometer
Klitz
ITG-3200
•
•
•
•
Klitz
Triple Axis
3 16-bit ADC’s
400kHz I2C Interface
Key element for stabilization
ADXL345
• 3 Axis Accelerometer
• High performance g-sensor
Klitz
• Measures Strength or Direction of
Magnetic Field (Compass)
• 3 Axis
• 1 to 2 degree range of accuracy
• I2C interface
• Sensitivity of 0.10 μT
• Allows heading tracking
Klitz
HMC5843
BMP085
300 to 1100 hPa (atmospheric pressure)
Accuracy of 0.3 hectopascals
I2C Interface
Maintains altitude of
Quadcopter
• Beneficial in Autonomous
landing
•
•
•
•
Klitz
• Safely Converts 5V to 3.3V and
3.3V to 5V
• Converts 4 pins at one time
• I2C Interface
Klitz
LEVEL 1.0.0: QUADCOPTER BASIC FLIGHT
Monty
Take Off
Hover
Land
Directional
Movement
(Left, Right,
Forward, Back)
LEVEL 1.1.0: QUADCOPTER BASIC FLIGHT
Set GPS
Coordinate
Monty
Check GPS
Check
Heading
Set Heading
Set
Direction
Adjust
Appropriate
Motors
HOVER
NO
Check if
flat
YES
Check Accel. Z > 0
In Z direction
Z<0
Increase
Motor
Speed
Monty
Decrease
Motors
Speed
DIRECTIONAL MOVEMENT
Set
Pitch
or Roll
Monty
Is Z
decreasing
Or
increasing
Adjust
Appropriate
Motors
No
HEADING
Set
Heading
Check
Mag
Check
Hover
Yes
Adjust
Motors
Monty
Set
Yaw
Check Hover
LANDING
No
Read
Ultrasonic
No
Increase
Decel.
Monty
Decrease
Decel.
No
Yes
Check Alt.
Above
Threshold?
Yes
Decrease
Decel. to
min value
Accel. = 0
Yes
Kill Motors
Level 1.2.0 TERRESTRIAL UNIT
Get Sensor
Data
Health Readings
Abnormal?
NO
YES
Set Local
Alarm
Wireless
Alert to Base
Station
Send Local
Data to Base
Station
Monty
Receive
Packet
Send
Packet
Monty
Get
Packet
Parse
Process:
Commands
and Data
Process:
Polling
Based
Build
Transmit
Packet
parse_sample( )
IO_data_sample_RX( )
Monty

Dan
Current user interface for Command PC is
text-based. Displays information based on
commands received from user.

Dan
Goal: Create a user interface that uses information received from
the Quadcopter to display information about flight status.
 Need to incorporate Google Maps with GPS data.

Test 1:

Test 2:
◦ Enough Lift with given
weight/propellers/motors
Result:
◦ Quadcopter had plenty of lift with plenty of
motor speed to spare
◦ Ultrasonic sensors range and reliability
Result:
◦ At low propeller speed ultrasonic sensors
were unaffected, but had narrow beam
width

A Node Discovery(ND)
command can be broadcast
to discover which nodes are
in the network.

On right, Quadcopter and
Terrestrial unit are part of
the network.
Timing Diagram of a packet being transmitted
over XBee using the Intronix Logicport
RPM vs PWM (no load)


12,130 rpm
maximum at
60% duty cycle
Lift occurs at
9,800 rpm
(old frame)
Increasing duty
cycle gives
minimal rpm
gain after 60%
Dan
14000
12000
10000
RPM

8000
6000
4000
2000
0
25
30
35
40
45
50
Duty Cycle (%)
55
60
65
RPM vs Current Draw (per motor)

14000
0.662 A maximum
current (steady
state) draw at max
12,130 rpm (no
load)
12000
10000


Current is not
dependent on PWM
duty cycle
Current spikes
occur when
incrementing large
rpm steps
Dan
RPM
8000
6000
4000
2000
0
0
0.1
0.2
0.3
0.4
Current (A)
0.5
0.6
0.7
Quadcopter
PCB w/components
Barometer
Accelerometer
Magnetometer
Gyro
Frame
ATMEGA 2560
Battery
Wiring Harness
4 ESC's
4 Motors
4 Propellers + Extras
Logic Level Converter
Ultrasonic Range Finder
XBee ZB
Gas
Temperature
Klitz
Terrestrial Unit
Base Station
XBee ZB
XBee ZB
Heart Rate Monitor
CPU: PC
Gas Sensor
XBee Explorer
Optical Air Quality Sensor
AT89C51RC2
32 kB NVSRAM
PCB w/ components
Phase 1:
PCB Design
Flight Command
Functional Decomposition
Phase 2:
Testing
PCB Revision and Design
Environmental Sensor
*Hardware design
*Software design
XBee Mesh Network
Phase 3:
Basic Auto Patterns
GPS Integration
Klitz
Ben
Camden
Daniel
Klitz
Monty
Klitz