Building a quadcopter
5HC99Group 3
Outline
● Hardware● Software● Tuning● Video● Demo
Hardware
● Standard frame● Two Raspberry PI's● Two camera's● Barometer● Battery alarm
Raspberry PI
● Two Raspberry PI's● Communicate using ethernet● Wlan for communication laptop● USB to stm32f3
Connections
Hardware problems
● Battery died– Leaving it for a month mostly fixed it
● Bad ESC– Thanks Emilio for a replacement
Globalcontrol
● High level interface● Connect Raspberry PI
to STM32● Communicate using
UAVObjects● Containing data
and settings
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
Face detection
● Face detection using Raspberry PI camera● About 4 fps● Marker detection also possible● But not finished
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 :)
Demo
Questions?