Team 01 : QuadSquad Safety and Reliability Andrew Boldt 11/6/2013 the ECE quadcopter senior design Purdue University1

Abstract Android controlled quadcopter Bluetooth connection (~300 foot range) GPS, compass, ultrasonic, battery monitor Brushless DC motors with speed controllers PWM input flight controller board for stabilization Waypoint navigation & auto take-off/land the ECE quadcopter senior design Purdue University2 11/6/2013

the ECE quadcopter senior design Purdue University3 11/6/2013

Project-Specific Success Criteria An ability to … determine the position of the quadcopter using GPS control the copter using an Android device over a Bluetooth interface automatically take-off and land fly-by-waypoint using GPS coordinates monitor the state of battery charge and relay back to user 11/6/2013 the ECE quadcopter senior design Purdue University4

Criticality Levels Total Quadcopter Meltdown – Battery/ESC/Flight Controller short – Severe impact to flight – Crash into person – λ < 10^-9 – Criticality Level I Basic Component Failure – Micro/GPS/MAG/ULTRA failure – Quadcopter hovers – λ < 10^-6 – Criticality Level IV 11/6/2013 the ECE quadcopter senior design Purdue University5

Components Monitored Microcontroller Power Supply Chip Line Level Chip ESC’s 11/6/2013 the ECE quadcopter senior design Purdue University6

FMECA - Micro Failure No. Failure ModePossible CausesFailure EffectsMethod of Detection CriticalityRemarks A1 No I/O Micro held in reset No power to micro No operation Sensor Reading IV A2 No PWM Improper command No power to micro Micro held in reset No Flight Flight Controller IV A3 No Power No power to micro Power supply short No Operation Visual/DMM IV 11/6/2013 the ECE quadcopter senior design Purdue University7

FMECA - Power Failure No. Failure ModePossible CausesFailure EffectsMethod of Detection CriticalityRemarks B1 0V OutputShorted No Battery No Power Visual IV B2 3.3 V Output/0A Chip Failure No Power Visual/DMM IV B3 Very Noisy Capacitor failure Readings Skewed Micro Reset Oscilloscope/ Power cycling IV 11/6/2013 the ECE quadcopter senior design Purdue University8

FMECA - Line Failure No. Failure ModePossible CausesFailure EffectsMethod of Detection CriticalityRemarks C1 No PWM OutputMicro/ESC power No signal No Flight Visual IV C2 Inverted PWM Chip malfunction Wrong input V Opposite Flight Visual/Flight Controller II 11/6/2013 the ECE quadcopter senior design Purdue University9

FMECA – ESC’s Failure No. Failure ModePossible CausesFailure EffectsMethod of Detection CriticalityRemarks D1 0V OutputShort Motors pulling No power No operationVisualIII D2 Wrong Speed Command Miscalibration Wrong Flight Controller Command Wild Loss of Control VisualII D3 FireOvercurrent Short Overheat Catastrophic Visual I 11/6/2013 the ECE quadcopter senior design Purdue University10

Questions?? the ECE quadcopter senior design Purdue University11 11/6/2013