Building a quadcopter - Eindhoven University of Technology · Raspberry PI Two Raspberry PI's...
Transcript of Building a quadcopter - Eindhoven University of Technology · Raspberry PI Two Raspberry PI's...
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Building a quadcopter
5HC99Group 3
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Outline
● Hardware● Software● Tuning● Video● Demo
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Hardware
● Standard frame● Two Raspberry PI's● Two camera's● Barometer● Battery alarm
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Raspberry PI
● Two Raspberry PI's● Communicate using ethernet● Wlan for communication laptop● USB to stm32f3
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Connections
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Hardware problems
● Battery died– Leaving it for a month mostly fixed it
● Bad ESC– Thanks Emilio for a replacement
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Globalcontrol
● High level interface● Connect Raspberry PI
to STM32● Communicate using
UAVObjects● Containing data
and settings
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Globalcontrol applications
● Record video when armed– Other conditions also possible
● Attach barometer to Raspberry PI– I2C didn't work on STM32
– Raspberry PI sends the data to STM32
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Face detection
● Face detection using Raspberry PI camera● About 4 fps● Marker detection also possible● But not finished
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PID Tuning
● Took a lot of time!● Problems:
– Motors rotating in wrong direction
– Bad ESC
– Easy to break the frame in the process
● Lots of trial and error● Quite stable now :)
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Demo
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Questions?