S17: Squad - Revision history

243 user2: /* Integration */

2017-05-25T02:58:21Z

‎Integration

243 user2: /* Electronic Speed Controller (ESC) */

2017-05-25T02:28:47Z

‎Electronic Speed Controller (ESC)

243 user2: /* Motors */

2017-05-25T02:26:03Z

‎Motors

243 user2: /* Introduction */

2017-05-25T02:23:22Z

‎Introduction

243 user2: /* Introduction */

2017-05-25T02:20:54Z

‎Introduction

243 user2: /* Abstract */

2017-05-25T02:13:10Z

‎Abstract

243 user2: /* Conclusion */

2017-05-22T06:56:45Z

‎Conclusion

Proj user7: /* Conclusion */

2017-05-22T06:47:55Z

‎Conclusion

243 user2: /* Project Video */

2017-05-22T06:33:59Z

‎Project Video

Proj user7: /* Conclusion */

2017-05-22T05:59:40Z

‎Conclusion

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 [[File: S17 244 Squad Adafruit.jpg|250px]]
 [[File: S17_244_Squad_quad.jpg|250px]]
 == Testing & Technical Challenges ==

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 === Electronic Speed Controller (ESC) ===
-The ESC is responsible for receiving PWM signals from the SJSUOne board and sending the appropriate signals to the actual motors.
+The ESCs used in this project were originally the stock ones that came with the MJX Bugs 3 Drone, but event, but once the project was switched to one with older parts the ESC used was the Emax 4-in-1 25amp ESC. It includes four 25amp ESCs in one unit and was strong enough for the SunnySky motors.
 [[File: S15 146 G1 emax.jpg|300px|center|thumb|Figure 4. Electronic Speed Control]]

@@ Line 179: / Line 179: @@
 === Motors ===
-There are four motors in the quadcopter and are used to spin the propellers.
+The motors used in this project were originally the stock motors that came with the MJX Bugs 3 Drone, but once the project was switched to one with older parts the motors were SunnySky X2204S KV2300. These motors are quite powerful since they are made for quadcopters weighing a maximum of 1000grams.
 [[File: S15 146 G1 sunnysky.jpg|350px|center|thumb|Figure 3. Brushless Motors]]

@@ Line 5: / Line 5: @@
 = Introduction =
-The stabilization of quadcopters requires that all four rotors are working together to correct themselves using the combination of accelerometer, gyroscope, and magnetometer. Our goal was to get the quadcopter to hover with a remote control. The flight controller is programmed into the SJSUOne board. Everything ranging from stabilization to remote control is handled on this board. A PID algorithm is used to handle stabilization. This algorithm has been previously tested and tuned further for our project.  Most of our code configuration lied within setting proper normalized values of the remote, setting frequency settings, and interfacing to other I/O devices. We spent much of our time finding the proper PID coefficients to get the proper flight stabilization.
+The stabilization of quadcopters requires that all four rotors work together. The inputs of the PID system included the accelerometer, gyroscope, and magnetometer. The output is a PWM signal to the ESC, which then spins the motor. Our goal was to get the quadcopter to hover with a remote control. The flight controller is programmed into the SJSUOne board. Everything ranging from stabilization to remote control is handled on this board. A PID algorithm is used to handle stabilization. This algorithm has been previously tested and tuned further for our project.  Most of our code configuration lied within setting proper normalized values of the remote, setting frequency settings, and interfacing to other I/O devices. We spent much of our time finding the proper PID coefficients to get the proper flight stabilization.
 == Objectives ==
 Our objectives include the following:
-*  Balancing and stabilizing system with the ability to pitch forward, pitch backward, roll left, roll right, yaw left, and yaw right with remote.
+*  Balanced system with the ability to pitch forward, pitch backward, roll left, roll right, yaw left, and yaw right with remote control.
 *  Hover in a relatively small area using a optical flow sensor.

@@ Line 30: / Line 30: @@
 ! scope="row"| 1
 | 4/10/2017
 | 4/30/2017
-| initial route North, South, East, and West pins to their respective motor/ESC wire locations. Start testing and determining a proper PID value.
+| Finalize motor controls and the correctness of all sensors
 | Complete
 | 4/30/17
 |-
-! scope="row"| 2
+! scope="row"| 4
 | 5/1/2017
 | 5/7/2017
-| Use pid tune task which iterates through a range of selected PID values. This will log the PID output with the respective PID values onto the SD card.
+| Indoor PID tuning with a safe and controlled rig.
 | Complete
 | 5/7/17
 |-
-! scope="row"| 3
+! scope="row"| 5
 | 5/8/2017
-| 5/12/2017
+| 5/14/2017
-| Continuation of PID Tuning
+| Completion of indoor PID tuning and attempt for outdoor fly testing.
 | Complete
-| 5/12/17
+| 5/14/17
 |-
-! scope="row"| 4
+! scope="row"| 6
-| 5/13/2017
+| 5/15/2017
-| 5/19/2017
+| 5/21/2017
-| Adjust gyroscope sensor readings and tune PID values for yaw Throttle.
+| Attempt to integrate and tune optical flow sensor.
 | Complete
-| 5/19/17
+| 5/21/17
 |-
-! scope="row"| 5
+! scope="row"| 7
-| 5/20/2017
+| 5/22/2017
 | 5/24/2017
-| Final testing for complete implementation.
+| Final testing and video for final demos.
 | Complete
 | 5/24/17

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 == Abstract ==
-The goal of our project is to design a quadcopter that is capable of flight and stabilize with a remote controller. The software will use a PID control algorithm to stabilize the motor speeds according to the external controller signal. The hardware will consist of interfacing the SJSU One board with an Adafruit 10-DOF sensor, remote control receiver, an electronic speed controller (ESC), and four motors.
+The goal of our project is to design a quadcopter that can fly and stabilize with the guidance of a remote controller. The software will use a PID control algorithm to stabilize the motor speeds according to the positional sensors. The hardware will consist of interfacing the SJSU One board with an Adafruit 10-DOF sensor, remote control and receiver, an electronic speed controller (ESC), and four brushless motors.
 = Introduction =

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 == Conclusion ==
-In this project, we utilized many new sensors that have never been used before such as the Adafruit accelerometer sensor, the ESC controller, and the remote transmit/receive sensor. We learned how to interface these new sensor with understanding each sensor's spec. The most important knowledge we have learned is adjusting the PID value in order to stabilize the quadcopter. We have a set of environment to test the drone's stability, and use our self-defined raw command to change the PID value. Finding the proper PID value for quadcopter is the hardest task in this project. We get a very stable PID value from our simulation environment and program into the quadcopter, but the quadcopter still very unstable in the real test. When testing quadcopter outside the room, there many unexpected situation such as wind and turbulence will have an affect on the outdoor flying. In conclusion, we are continue to collect data from different environment to calculate a better PID value so as to help the quadcopter to fly stable in real-world environment.
+In this project, we utilized many new sensors that have never been used before such as the Adafruit accelerometer sensor, the ESC controller, and the remote transmit/receive sensor. We learned how to interface these new sensor with understanding each sensor's spec. The most important knowledge we have learned is adjusting the PID value in order to stabilize the quadcopter. We have a set of environment to test the drone's stability, and use our self-defined raw command to change the PID value. Finding the proper PID value for quadcopter is the hardest task in this project. We get a very stable PID value from our simulation environment and program into the quadcopter, but the quadcopter still very unstable in the real test. When testing quadcopter outside the room, there many unexpected situation such as wind and turbulence will have an affect on the outdoor flying.
 === Project Video ===

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 === Project Video ===
 https://www.youtube.com/watch?v=gkTlo5t4o04
 === Project Source Code ===