Stratus Final Report
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Transcript of Stratus Final Report
STRATUS FINAL REPORT
Ryan Rasmussen & Brett Mahnke (Presenting)Caleb FangmeierMaggie KrauseJiajung Yang
December 10, 2012
Project Overview
Resources: Websites for building open source drones, open source simulators and software
Tools, parts, and technical expertise provided by NIMBUS labs
Log of progress made on project over time
Comparison table of possible communication methods between drone and mobile device
Constraints: -Time-Hardware
Test data, real-time testing, case studies, video
InputsOutputs
iOS/AndroidArduCopter and software
Radio control
Assembly and programming of an open-source UAV and mobile appThe process of drone assembly will be documented and an optimal mode of communication with the mobile device selected. The mobile device will have the ability to issue simple commands to the drone. Results aim to broaden research options for NIMBUS labs and provide expanded utility of UAVs.
Communication interface
Companion document to assembly instructions noting required skills, pitfalls, successes
Scope of Work Project was divided into 2 phases
Phase 1 – First Semester Assembly of ArduCopter Testing/Understanding built-in functionality of APM (ArduPilot Mega) Create detailed assembly instructions document Create communication options document for sponsors to choose from
Phase 2 – Second Semester Implement/test communication hardware Develop interface with NIMBUS existing system Develop phone application
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Phase 1 – Mechanical/Electrical Assembly
Available instructions were vague Browsed ArduCopter forums for missing details Comprehensive assembly instructions were created and will be delivered to
sponsors this week
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Phase 1 – APM Configuration “Mission Planner” allows for easy updating of firmware and calibration of
radio and sensors Plot way-points on a Google map to create “missions” Review detailed mission logs
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Phase 1 – Manual Flight Tests Tests described in requirements document
Ability to safely takeoff, land without damage, switch between manual and automated flight modes These tests have all been verified
Some tests involve measuring speeds and deviation from a desired path These tests appear successful to the naked eye Will have to be verified using the NIMBUS lab 3D camera system
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Phase 1 – Safety Concerns Crash into NIMBUS lab ceiling
Forgot to detach battery while updating firmware
Near misses Motors engage when radio transmitter is turned off Almost hit in face by spinning propeller
On campus testing People walking around while flying
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Phase 1 – First Successful Automated Flight Initial automated flight test resulted in crash
No foam covering over barometer (poor assembly instructions) https://www.youtube.com/watch?v=vjsFJ46skPU
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Phase 1 – Phone Communication Options
Document outlining three options for sponsors to choose from was delivered last week 3DR Radio – requires attachment for phone (Android only) Bluetooth – very short range Wi-Fi – connection not always reliable
Fairly sure they will choose Wi-Fi option RN-XV wi-fi module based around “WiFly” RN-171 chip Matches footprint of radio Xbee’s used by NIMBUS lab Configurable for Access Point mode so a PC, iPhone, or Android can
connect without additional hardware
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Phase II (next semester) Developing phone app is the primary goal
Six basic commands Due to frequent updates to APM firmware, the phone app will
programmed to do all calculations○ Determine ArduCopter status and state based on telemetry data○ Calculate GPS coordinates when in ‘follow me’, the coordinate need to be
offset by 2-3 meters so the copter follow behind rather than on top of the user
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Phase II – Implementing MAVlink MAVlink is the communication protocol used by the APM
Commands sent to the APM must be formatted using MAVlink for the APM to understand them
Telemetry information sent from the APM must be decoded from MAVlink in the phone app to be displayed to the user
Integration with the NIMBUS system will involve developing a node that translates ROS into MAVlink and vice-versa
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Phase II – Integration with NIMBUS Framework Node will handle translation between ROS and MAVlink and
communication through chosen option
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Phase II – Finite State Machine FSM will be used to determine valid commands that can be
sent from the phone to the APM Transitions in the FSM represent the six commands
When the ArduCopter is in a given state, buttons on the user interface will be enabled and disabled based on the possible transitions from that state
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Phase II – Phone Application If Wi-Fi or Bluetooth is the chosen option, we will develop
both an Android and iPhone application
Major functionality Use onboard GPS Send and receive information using selected option Use MAVlink libraries to encode/decode APM communications
○ Display status information○ Send commands
Simulate Finite State Machine○ Will use telemetry information to determine state of ArduCopter○ Enables and disables buttons accordingly
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Phase II – Phone Application
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Issues and Risks Broken parts
Have already broken several props and 2 motors Shipping Delays
Have been delayed twice due to shipping needed parts Unexpected behavior
Crash into ceiling Crashes in auto mode
Injury Close calls, people walking around while testing outside
Outdoor testing May be hard during winter months
GPS accuracy Essential for safety while in ‘follow me’ mode
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Unexpected Behavior
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Unexpected Behavior First autonomous flight test
Did not maintain altitude at all, later discovered barometer needed to be covered by foam
https://www.youtube.com/watch?v=ZuvqIwnT5D4
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Questions?
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