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Initial X1 Design
Overview
Semi - Autonomous Quadcopter
with ability to fly in 6 Cartesian
directions: +/-X, +/-Y, +/-Z.
Controlled by IOS application
with communications from
iPhone to onboard Raspberry Pi
via Wifi Direct.
Flight software and controls will
be coded onto Arduino Mega
2560 and will receive directional
information from Raspberry Pi.
How a
Quadcopter Flies
4 rotors: Rotors 1&0 spin the
same direction. Rotors 2&3 spin
opposite direction of 1&0.
Roll, Pitch and Yaw (Euler Angles)
can describe instantaneous 3D
orientation of vehicle and are
measured in degrees.
2
1
0
3
How a Quadcopter
Flies (2)
Using diagrams to right: To go forward,
motor 2 will decrease thrust while motor 3
will increase an equal amount of thrust.
This causes a delta upward thrust of zero
along with a forward velocity.
Movement in yaw direction is achieved by
increasing power to 1&0 while decreasing
2&3.
This examples uses a
+ formation. An X
X1
ROBOTICS
Startup
Initialize
Up
Down
Forward
Backwards
Left
Right
Shutdown
Raspberry Pi Responsibilities
Communicate with iPhone app.
Send basic 5V logic signals to Arduino
microprocessor using digital I/O pins to
control the 9 buttons explained on App
design slide.
Raspberry Pi capabilities will be used
for future models (X2, X3 etc) for
improvements such as, Camera feed,
stereo, GPS Nav, etc
X1 design of Raspberry Pi is fairly
simple while complex flight software is
left to the Arduino in order to save
space on the Pi for later improvements.
Arduino Responsibilities
Arduino will be the hub
for all the flight software.
Will take inputs from
Raspberry Pi and IMU
instruments and output
Pulse Width Modulated
Signals to individual
motors to allow for
stable flight.
Step 1
Step 2
Step 3,4
and 5
Hardware
DC Brushless motors
Rotors
Chassis/Frame
Electronic Speed
Controllers
Lithium Ion
Rechargeable Battery