1. By: Eric Backman Advisor: Dr. Malinowski

2.  Introduction  Goals  Project Overview and Changes  Work Completed  Updated Schedule

4.  Stable Hovering  Autonomous take offs and landings  Manual control using joystick  Collision Avoidance  Color Recognition

5.  Removed use of camera and color recognition due to time constraints  Will focus on more accurate distance measurements  Be able to quickly stop within 5 cm of a specific distance from wall

7.  Overall System Requirements ◦ Quadrocopter can take off and land autonomously ◦ Limit power to maximize time of flight ◦ Able to maintain distance from wall with error +/- 5 cm  Infrared Sensor Requirements ◦ Sense distance to all objects within at least 1 meter with accuracy of 1 cm ◦ Distance sent to microprocessor from 6 sensors at least every millisecond

8.  Atmega168 Microprocessor Requirements ◦ Read the distance sensor voltage with accuracy equivalent to at least 1 cm ◦ Send distance sensor data to BeagleBoard at least every 10 ms using serial port ◦ Create Pulse Width Modulation signal of 50 Hz that has at least 10 us resolution  BeagleBoard Requirements ◦ Update command PWM settings every 20 ms using sensor and joystick inputs

9.  Due to the angle of the Quadrocopter, sensors will give longer distances  This will be fixed by using the command to estimate angle  Will use this to accurately stop at a specific distance from the wall going at varying speeds

10.  If a 1.25 ms pulse corresponds to a 22.5° angle and it has been running a 25% duty cycle for a certain amount of time  This method depends on accuracy of angle measurements

11.  Design  Atmega168 processor programming: ◦ 6 analog channels to ADC w/ sensor resolution.98 cm ◦ 4 channels of PWM w/ 10 us resolution @ 50Hz ◦ UART Serial Communication  Beagleboard programming ◦ Serial communication ◦ UDP network connection  Remote controller programming ◦ UDP network connection

12.  Software took much longer than expected ◦ Analog to digital converter on Atmega 168 needs capacitor for accuracy, not well documented ◦ Various serial port issues  Removal of camera means the project is still on track to be finished

13.  Mount hardware  Atmega168 processor programming: ◦ Revising code after integration with quadrocopter  Beagleboard programming ◦ Mapping joystick to PWM control  Revising code after integration with quadrocopter ◦ Collision avoidance ◦ Autonomous emergency landing  Remote controller programming ◦ Joystick

14.  March 7 – Mount hardware  March – Final software debugging and initial flight testing  April – Work on getting accurate distances and collision avoidance  Late April – Project analysis and Final report