1. Autonomous Helicopter James LydenHarris Okazaki EE 496

2. Project Overview The goal of this project is to create a helicopter capable of flying itself. The helicopter should be able to take off, fly to a predetermined location, and land without user input (during flight). The target will be specified pre-flight by a user, through a computer interface.

3. Systems Overview Computer with Bluetooth  Interpret sensor data/calculate and maintain course Transceiver: Class 1 Bluetooth Radio  Send formatted sensor readings to the PC  Receive control signals from the PC PIC Microcontrollers with UART, SPI/I 2 C  Collect/Format sensor readings prior to transmission  Convert/split control signals prior to sending to servos Gyroscope Sensor  Read rotation around rotor axis 3-Axis Accelerometer Sensor  Read acceleration in X, Y, and Z directions

4. Sensor Orientation

5. Subsystem Design User: input flight plan 3 Axis Accel Gyro Servos PC w/BT: calculates control signals Master μC BT transceiver Slave μC OFFBOARD ONBOARD

6. Processing PC (POSIX OS)‏ PID calculations position/velocity/acceleration data storage Master Microcontroller Sensor interface Servo control PC relay Slave Microcontroller Servo control

7. PC Software Flow Initialize: Open Serial Port Test Serial Port Get Data: Listen for Packet Parse Packet Store Data: Update Pos/Vel/Acc Update Error Values PID Calculations: Read Error Values Compute Corrections Flight Planning: Check Flight Mode Add Desired Offsets Format Output: Combine Offsets+PID Put Data Into Buffer Send Data: Write Buffer to Serial Port

8. Master μC Software Flow Initialize: Open Serial Ports Initialize Sensors Initialize PWMs Get Sensor Data: Send Commands Read/Save Responses Format Sensor Data: Use 8 MSbs Cast To Chars Send Sensor Data: fprintf Each Byte Wrap Word With Tags Get Correction Data: Wait For UART Ready Read 4-Byte Word Set Control Signals: Parse First 2 Bytes Set PWM Duty Cycles

9. Slave μC Software Flow Initialize: Open Serial Port Initialize PWMs Get Correction Data: Wait For UART Ready Read 4-Byte Word Set Control Signals: Parse First 2 Bytes Set PWM Duty Cycles

10. Timeline

11. Constraints to Consider Weight The sensors, transceiver, and power supply must be as light as possible, since they will be onboard. Power consumption Trade-off between flight time and weight of batteries Trade-off between wireless range and power use Trade-off between navigational accuracy and microprocessor speed (sensor data transmission)‏ Sensor/Control delays Trade-off between sensor sensitivity, size, and speed Activation speed of servos is our limiting factor in adjusting course