Group Members: Shuohan Wan Dustin Douglas Kevin Oberg Advisors: Prof. Hammer Prof. Ernie

 Open-source (GPL) autopilot on RC Plane  Autopilot-Tiny v2.11  RC Plane-Multiplex FunJet  Create project handbook  Contains step-by-step simplified details necessary to recreate project in less time  Understandable to the average engineer  Assist two Aerospace Engineer teams  These AEM teams handle the physical planes  We help with all necessary electrical needs

 FunJet plane requires configuration of a number of components  AutoPilot Control Board  Battery  Radio-modem and antenna  GPS receiver  IR sensors for X-, Y-, and Z-axes  Motor and controller  RC receiver and antenna  Servos International Traffic in Arms Regulations (ITAR) Open-source (GPL) necessary to be able to sell in international markets

 Many types of commercial and enthusiast autopilots available  Paparazzi already deployed on FunJets as well as other airframes  Not well documented  Paparazzi Wiki  Useful for general info  Fails to provide some specifics

 Successfully fly* the Multiplex FunJet under autopilot control (uses elevons)  After flying FunJet, fly aircraft with traditional configuration (ailerons, elevator, rudder) * Successful flight test entails manual takeoff and landing with autonomous flight by wire controlled by a PC ground station

 Aerospace Engineering teams support  We need to assist these two teams with any electrical or software related difficulties they encounter  Manual  Professor Hammer would like to have a detailed handbook that walks through the process  Stretch goals  Autonomous takeoff/landing  Video/Picture feedback  Multiple aircraft flying simultaneously  Build/Fly our own FunJet

 Conventional R/C electronics  Receiver  Servos  Motor/ESC  Battery  Paparazzi Equipment  Tiny v2.11  IR sensors  Modem

 Conventional R/C Functional Diagram

 Paparazzi Augmented R/C Functional Diagram

 Tiny v2.11 becomes the heart  Everything is directly connected  R/C receiver is auxiliary communication  Serves as backup communication device

 Manual R/C control  Takeoffs  Landings  Modem failure  Tiny v2.11 control  Autonomous flight (Auto 2)  Semi-autonomous flight (Auto 1)  Fly by wire (air) through GCS

 Majority of budget spent on pre-crimped wires  Pre-crimped wire ~$30 per plane  Crimper would cost ~$250 if bought separately  The connector, 3-8 pin, cost ~$5 per plane  Parts provided by Lockheed Martin  Multiplex FunJet ~$75  IR sensors ~$70  RF Modem ~$200  Servos/receiver~$80  Motor/ESC~$110

 10/11 – FunJet manual flight  10/25 – FunJet autonomous flight  10/25 – Trainer manual flight  11/2 – Trainer autonomous flight  12/8 – Implement advanced features  Camera  Interface paparazzi with AEM flight simulator  12/8 – Final draft of Paparazzi Handbook

 We are making good progress towards our autonomous flight goal  Most electrical issues have been dealt with  We are learning

Reid Plumbo, Todd Colten, Jeff Hammer AEM Paparazzi Team A: Jacob Rohrer, Peter Rohrer, Ben Bradley, Richard Schiell AEM Paparazzi Team B: Ben Bradley, Nate Olson, Pat O’Gara, Sean Jarvie

 SPRC in Ham Lake

 Lockheed Engineers  Reid Plumbo  Todd Colten  Professor Hammer  AEM Team A & B

 Step 1: Flash bootloader using special cable  Step 2: Flash GPS tunnel using USB programming cable  Step 3: Program GPS using U-BLOX software and special cable  Step 4: Flash autopilot program using USB programming cable