Subsystem Design Review

Transcription

1 Subsystem Design Review P UAV Aerial Imaging Aaron Willbee Tim Fratangelo Reed Abraham Alex Klymkow Spencer Hanson

2 Agenda Review of previous work Camera Design Communication APM (autopilot) Aircraft Test Plan Schedule

3 Key Stakeholders Customer & Guide: Dr. Jason Kolodziej, ME Department, RIT Team: Project Lead: Reed Abraham (Aeronautics) Project Engineers: Tim Fratangelo (Code Master) Spencer Hanson (Aeronautics) Alex Klymkow (Power Systems) Aaron Wilbee (Camera Integration) Interested Parties: Rochester Institute of Technology College of Imaging Science Mechanical Engineering Department

4 Project & Objectives Integrate ArduPilot and Image Capture System Aerial images with associated GPS, aircraft altitude and attitude telemetry Waypoint-based shutter trigger Airframe-independent autopilot system Manual take-off/land, autonomous, waypoint-guided flight. Combine the work of previous projects Carry a payload of imaging equipment Initial: GoPro Expansion: Professional imaging devices

5 Customer Requirements 1. Record & Associate Telemetry Data with Photographs 2. Airframe Independent System 3. Dynamic Mission Updating (APM Guide mode) 4. Picture on Command 5. Functional Autopilot

6 Req-Hardware breakdown FUNCTIONAL AUTOPILOT DYNAMIC MISSION UPDATING PICTURE ON COMMAND ASSOCIATE TELEMETRY WITH PHOTO AIRFRAME INDEPENDENCE ArduPilot Mission Planner Hacked GoPro Mission Planner ArduPilot ArduPilot Coding ArduPilot Mission Planner w/ Modifications Hacked GoPro Modular Payload

7 Camera Take Photo Activate Camera Signal Camera Activate Ground Station Photo Trigger Transmit Signal to UAV Transmit Signal to Camera (Onboard) Record Telemetry Data Trigger Shutter Retrieve Telemetry Data Store Data with Photo (Onboard)

8 Camera - Transistor switch to ground

9 Camera Transistor switch with EEProm I2C interface

10 Camera Software shutter switch with EEPROM and I2C

11 Camera // Get the current state of ID1 int start = digitalread(gopro_id1); // Low pulse on ID2 to tell the camera to get ready digitalwrite(gopro_id2, LOW); delaymicroseconds(340); digitalwrite(gopro_id2, HIGH); // Wait for ID 1 to change state // to indicate the camera is ready while(digitalread(gopro_id1)!= start) {} delay(62); // Low pulse on TRIG to tell the camera to take a //photo digitalwrite(gopro_trig, LOW); delaymicroseconds(340); digitalwrite(gopro_trig, HIGH); Serial.println("Photo taken"); // 1.5 second delay between photos. Longer or shorter works fine. delay(1500);

12 Camera Parts Breakout board 24AA0 SOT-23-5 package EEProm Current limiting resistor PNP transistor switch 2 digital pins 2 PWM Pins 3.3v Microcontroller or Buck Converter

13 Communication Lightweight Large range: ~1 mile Fully supported by APM mission planner

14 Communication 3DR Radio Telemetry Kit Mhz (US) Range of approx 1 mile - can be boosted Air data rates up to 250kbps Firmware fully supports APM Mission Planner Open source firmware to customize for feasibility Lightweight and small to fit in plane easily

15 Communication Signal boost: RFD900 Long Range Telemetry Long range of >40km Small and lightweight Compatible with 3DR radio

16 APM Hurdles ArduPilot is no longer Arduino based Lacking thorough code documentation

17 APM Code to activate a pin. //Setup hal.gpio->pinmode(out_pin, OUTPUT_MODE); //Set the pin to high or low hal.gpio->write(out_pin, HIGH); hal.gpio->write(out_pin, LOW);

18 APM Telemetry data located in the AP_AHRS class ahrs.yaw ahrs.pitch ahrs.roll GPS data located in the mavlink_gps_raw struct gps_raw->lat gps_raw->lon gps_raw->alt

19 APM Next Steps Locate an output pin in code Test pin with camera Insert camera function in waypoint detection function Add telemetry and GPS capture to the camera function.

20 Center of Gravity Excel spreadsheet tool for calculating CG Philosophy of use

21 CG, Continued

22 Aircraft Selection Major Criteria: Modifiability (feasibility vs. man hours) Internal volume Lift capacity Cost

23 Options Telemaster 40 kit ~ $150 Telemaster 40 ARF** ~ $200 Alpha 450 ARF ~ $130 Alpha 450 PNP ~ $250 Mystique ARF~ $370 EPO foam wing kit ~ $170 Radian BNF ~ $250 Phoenix 2000 ARF ~ $60 Penguin ARF ~$105 All prices are airframe only (unless otherwise noted) and do not include S&H

24 Phoenix 2000 ($60) Benefits: ARF: $60, PNP: $100 Drawbacks: High efficiency design Long flight times Sufficient internal volume for GoPro payload Community used (FPV) - info easily available Insufficient internal volume for multispectrum camera Post - construction modification of nylon fuselage Additional parts required Possible low quality stock hardware (research ongoing, easily replaceable/repairable) Additional Cost Estimate: Motor ~ $30, ESC ~ $30, (4) Servos ~ $20 ea., Folding prop ~$20 (for ARF) Quick Specs: Wingspan: inches (2000mm) Powerplant: Configurable (Brushless 2815 (1050Kv) PNP) Max. Flight weight: 34.5 ounces (980g)

25 Penguin ($105 - $214) Benefits: Drawbacks: Post - construction modification of foam Creation of replacement canopy (preferred) Aerodynamically irresponsible canopy Additional parts depending on model purchased Additional Cost Estimate: Sufficient internal volume for either camera Pre-cut downward facing camera hole + mount High max flight weight Community used - info readily available Spare parts/mods readily available, inexpensive Motor ~ $30, ESC ~ $35, (4) Servos ~ $15 ea., Prop ~$10 Total Est. Aircraft Cost: ~$220 - $240 Quick Specs: Wingspan: 67.7 inches (1720mm) Powerplant: Brushless M2815 (1280kv) Max. Flight weight: 77.0 ounces (2200g)

26 Pugh Selection Matrix

27 Conclusion - Aircraft Selection The best commercially available aircraft to accomplish our goals is the Penguin. Large internal volume Easy to fly Purpose-built for FPV & aerial imaging Durable, lightweight construction Easily available, inexpensive spare parts Wide variety of modifications available Growing community user base

28 Aircraft - Next steps Vendors contacted for internal fuselage dimensions of Radian, Penguin, Phoenix Community research ongoing on RC Groups Focus on power system - ESC, Motor, Prop

29 Test Plan Identify pins on GoPro breakout board to trigger camera Identify how much ArduPilot memory can be used to store flight data before affecting system performance Identify pins on ArduPilot available to use to trigger camera Create initial wiring setup, test on breadboard (no data connection, not wireless) Transfer setup to a breadboard-based handheld test board, complete with aircraft power source and all components. Drive or walk to waypoints to simulate aircraft flight, test data connection, dynamic waypoint updating. Use this setup to develop telemetry to image association

30 Schedule Schedule is highly dependent on when new GoPro camera is received from GoPro. Estimate at least two weeks from today Development of software does not need to halt in its place. Milestones for the next three weeks: 10/24-10/30 - Final Aircraft decided upon & ordered (Spencer, Reed) 10/24-11/13 - Software Camera Trigger development (Tim, Aaron) Breadboard test with Camera starting on 11/10 10/24-11/06 - Handheld Test Board design & production (Spencer, Reed) 11/06-11/10 - GoPro Exposure (Aaron, Alex) 11/06-11/13 - Design any modifications to the aircraft (That require physical access to the hardware)

31 Questions?

32 Past Projects Airframe Autopilot / Telemetry Imaging P UAV Airframe C.1 P UAV Wireless Communication & Control P Modular Imaging System Frame & Stabilization P UAV Airframe C P UAV Image Integration & Performance P Image Calibration Device P UAV Airframe B P UAV Telemetry P Visible Spectrum Imaging System P UAV Airframe A P Configurable Control Platform P Airframe Measurement & Aircraft Controls PROGRESSION P UAV Aerial Imaging & Autopilot Integration

33 Risks Risk ID # Describe the risk Effect What are the possible cause(s) of this risk? Likelihood Severity L*S Action(s) to take to prevent, reduce the impact of 5 Short circuit: camera Camera is destroyed and a new one must be acquired. Improperly connected Incorrect supply Review data sheets draw a layout. use current limiting resistors, insulate pins. 12 Communication failure with ground station Aircraft no longer able to land, plane will crash Loss of power to radio module, short circuit in radio module, out of range Perform range tests periodically with equipment on ground and ensure the autopilot never flies farther than 50% of range 17 Loss of GPS signal in flight Possible loss of aircraft, possible loss of electrical components Cloud cover, aircraft orientation, signal interference Fly on calm, clear days. Test GPS chip to determine how much inclination is allowed 19 Autopilot software incorrectly programmed Loss of control, loss of aircraft Not checking the autopilot algorithms thoroughly enough Sweep code and verify that the flight dynamic and aerodynamic principles behind the algorithms are correct and are able to be executed by the hardware. 23 Loss of inertial mission failure due to memory overflow, Rigorous testing to ensure that the code

34 Current Airframe Benefits: Drawbacks: Motor designed for slow fliers not heavy lift Heavily damaged, significant repair required Insufficient internal volume for both camera systems Smaller wing area than comparable trainers Difficult to fly loaded (per previous pilot) Additional Cost Estimate: Proven, simple design Previously flown successfully Incidental repair costs, replacement parts Total Est. Aircraft Cost: ~$125 (repair) Quick Specs: Wingspan: 44 inches Length: 36-½ inches Flight Weight: ounces (stock) Powerplant: SuperTigre 400 size brushless (950 kv) Parts that currently require replacement or significant repair: Cowling (missing), vertical stabilizer, wing (covering), fuselage (heavy structure damage)

35 Telemaster 40 Kit ($150) Benefits: Drawbacks: Construction time Additional parts required Cost Additional Cost Estimate: Proven, simple design Plenty of lift Flap control for slow, smooth landings Easy modification during construction Easy to fly, plenty of power. Plenty of internal volume for both camera systems Motor ~ $70, ESC ~ $140, (6) Servos ~ $35 ea. Total Est. Aircraft Cost: ~$600 Quick Specs: Wingspan: 73 inches Length: 53-½ inches Stock flight weight (est): 96 ounces (6 lb) Powerplant:.40/.46-size electric motor or glow power. (cost est. includes electric motor only)

36 Telemaster 40 ARF ($200) Benefits: Drawbacks: Post-construction modification Additional parts required Cost Additional Cost Estimate: Same aircraft as kit, pre-built Proven, simple design Plenty of lift Flap control for slow, smooth landings Easy to fly, plenty of power. Plenty of internal volume for both camera systems Motor ~ $70, ESC ~ $140, (6) Servos ~ $35 ea. Total Est. Aircraft Cost: ~$650 Quick Specs: Same as Telemaster 40 Kit

37 Alpha 450 ARF ($130) Benefits: Drawbacks: Insufficient internal volume for both camera systems Post - construction modification Additional parts required Cost Additional Cost Estimate: Proven, simple design Plenty of lift for GoPro payload Sufficient internal volume for GoPro payload Easy to fly Easy power system upgrade (significant cost) Motor ~ $50, ESC ~ $70, (4) Servos ~ $25 ea. Total Est. Aircraft Cost: ~$400 Quick Specs: Wingspan: 48-½ inches Length: 40 inches Flight Weight: ounces (stock) Powerplant: Park 450 size brushless (890 kv) (upgradeable)

38 Alpha 450 PNP ($250) Benefits: Proven, simple design Plenty of lift for GoPro payload Sufficient internal volume for GoPro payload Easy to fly Easy power system upgrade (significant cost) Drawbacks: Additional Cost Estimate: Insufficient internal volume for both camera systems Post - construction modification Cost $0 Total Est. Aircraft Cost: ~$250 Quick Specs: Wingspan: 48-½ inches Length: 40 inches Flight Weight: ounces (stock) Powerplant: Park 450 size brushless (890 kv)

39 Mystique ARF ($370) Benefits: Drawbacks: Insufficient internal volume for either camera system Post - construction modification of fiberglass Additional parts required Cost (and high cost of replacement parts) Additional Cost Estimate: High efficiency design Long flight times Flap control for slow, smooth landings High quality construction (Balsa, ply & fiberglass) Motor ~ $70, ESC ~ $90, (4) Servos ~ $35 ea., (2) Servos ~ $15 ea., Folding prop ~$20 Total Est. Aircraft Cost: ~$800 Quick Specs: Wingspan: 114 inches (2.9m) Length: 58-½ inches Powerplant: Power 25 (870kv) Flight weight: ounces ( lbs)

40 X8 Flying Wing kit ($164) Benefits: Drawbacks: Difficult to modify due to EPO foam construction Additional parts & Construction required Cost High speed dive wing flutter (!) Additional Cost Estimate: Designed for UAV/FPV enthusiasts High aerodynamic efficiency Plenty of lift Sufficient internal volume either payload Motor ~ $50, ESC ~ $140, (2) Servos ~ $35 ea. Folding prop ~$20 Total Est. Aircraft Cost: ~$500 Quick Specs: Wingspan: 83-½ inches (2122mm) Powerplant: Turnigy Aerodrive SK3 (500kv) Max. Flight weight: ounces (3500g)

41 Radian Radian BNF ($250) Benefits: Drawbacks: Internal volume is questionable for either camera Post - construction modification of foam fuselage Rudder control only - Pro version includes Flaps, Ailerons, same price point. Additional Cost Estimate: High efficiency design Long flight times Lightweight, durable foam design. Community used (FPV) - info easily available $0 Total Est. Aircraft Cost: ~$250 Radian Pro Quick Specs: Wingspan: 78.7 inches (1998mm) Powerplant: Brushless PKZ 480 (960Kv) Max. Flight weight: 30 ounces (850g)

42 Camera Video stream with software switch

43 Camera Risk ID # Describe the risk Effect What are the possible cause(s) of this risk? Resolution 1 Camera Breaks new camera Purchased short circuit, power to wrong pin, improper pinout use current limiting resistors, insulate pins. 2 solutions fail camera trigger cannot be exposed through bus insufficient information of the bus, firmware update hard wire to buttons

44 Camera Test Plan Subsystem camera trigger exposure Date Completed December 1st Performed by Aaron Wilbee Test by Alex Klymkow Specification Unit of Measure Marginal Value ES1 controlled by microcontroller functionality N/A ES2 captures images in sync seconds 1 second after trigger ES3 fit in plane cm 4 ES4 maintain battery life hours 3

45 Communication Test Hook up radio kit to Ardupilot and ground station Drive Ardupilot around with ground station not moving See if Ardupilot receives signal Determine distance Signal strength when received Noise

46 ArduPilot Test Drove ArduPilot around in car Successes: Ardupilot tracked car s position within ~2-3 meters consistently with GPS lock Recorded flight data in mission planner Issues: Loss of GPS lock causes loss of velocity vector and location, system wanders. Heading vector appeared to be consistently off by ~20 degrees.

47 ArduPilot Test (Cont d) Legend: Blue Line: Path taken Black line (thin): GPS Track Red line (thin): Heading Yellow line (thin): Direction to home Good GPS lock Instant position shift due to GPS regained No GPS Lost GPS lock here GPS lock regained