Presentation for final project in UWB CSS 427, Spring 2013. Covers the process and leanings for creating a quadcopter using the Freescale Freedom board.

1. QUADCOPTER
Greg Abdo
Mitch Carlson
Derek McLean
Jeffery Owens
Les
Tomaszewski
Prosper Van

2. QUADROTOR SWARMS U-PENN
GRASP LAB

4. HARDWARE DESIGN

5. FREESCALE
FRDM-KL25Z
ARM Processor
Arduino Compatible
On Board Accelerometer
MBED
$13

6. A-DESIGN D235
FRAME
Integrated ESCs
235 MM
LEDs
$25

7. XBEE
WIRELESS
RADIO

8. ADDITIONAL COMPONENTS
Suppo/Mystery Motors
5030 Propellers
2s LiPo Battery
9 axis Sensor
Wires! Solder!

9. SOFTWARE DESIGN

10. THEORY

11. STABILIZATION
Sensor Fusion PID Controller

12. SOFTWARE
Main
Motor
Control
Xbee

13. MOTOR CONTROL
Timer
Interrupt
Update
Sensors
Correct w/
PIDs
Update
Motors
“Sleep”
100 ms

14. USER CONTROL (XBEE)
PC XBEE XBEE FRDM

15. DEMO

16. FUTURE
PID Tuning
9 Axis Sensor, GPS, Altitude
Sensor Fusion
Safer Hardware Design
Local IDE
Smart Phone App Control
Group Communication/Interaction
Self Control

17. LEARNINGS
Hardware Requires Discipline
Ambition Requires Time xor Sacrifice
Homeostasis for Flight is Complex
Soldering & Hardware Development
Project Management

18. HTTPS://SITES.GOOGL
E.COM/SITE/UWBQUA
DCOPTER/BLOG

19. Q&A