Gate ReviewP14231 - UAV Aerial ImagingSpencer Hanson | Reed Abraham | Alex Klymkow | Aaron Willbee | Tim Fratangelo

Agenda● Canon Camera Options & Recommendation● Aircraft Recovery Assist System● GoPro Wifi Test Results● Receiver Recommendations● MSD II Plan

Canon Camera Options● 7 cameras out of Canon’s current

lineup are supported by the CHDK

● CCD sensor cameras: ○ A4000IS ○ A2400IS○ A2300

● CMOS sensor cameras: ○ S110○ SX260HS○ ELPH320HS○ ELPH110HS

● All CHDK Compatible Canon Cameras:○ http://chdk.wikia.com/wiki/Template:

Supported_Cameras

● We limited our choices to those currently in Canon’s product line○ Improved technology

CCD Cameras

A4000 IS, A2400 IS, A2300 IS● All utilize the same “DIGIC 4” image

processor● All have a 16.0 MP CCD sensor● All have a 28mm lens

A4000IS ($115): ● 3.75 x 2.22 x 0.96 in., 5.11 ounces● 8x zoom

A2400 IS ($95):● 3.72 x 2.22 x 0.84 in., 4.97 ounces● 5x zoom● Touchscreen

A2300 ($88)● 3.72 x 2.13 x 0.79 in., 4.41 ounces● 5x zoom

CMOS CamerasS110 ($219)● 12.1 MP● 3.89 x 2.32 x 1.06 in., 6.98 ounces● 5x zoom● Built-in Wifi

SX260 HS ($219)● 12.1 MP● 4.19 x 2.40 x 1.29 in., 8.15 ounces● 20x zoom

ELPH320 HS ($200)● 16.1 MP● 3.68 x 2.24 x 0.82 in., 5.11 ounces● 5x zoom● Touch screen

ELPH110 HS ($214)● 16.1 MP● 3.67 x 2.24 x 0.79 in., 4.76 ounces● 5x zoom

Camera RecommendationExpensive: ● ELPH110 HS ($214)

○ 16.1 MP CMOS○ 3.67 x 2.24 x 0.79 in., 4.76

ounces

Less Expensive: ● A300 ($88)

○ 16.0 MP CCD○ 3.72 x 2.13 x 0.79 in., 4.41 ounces

No appreciable difference for our application - recommend purchase on price point

Recovery Assist SystemLost Model Alarm● Assists in location of lost aircraft by

providing auditory cues.○ Passive (dumb) and Active (user

control) alarms○ 85db○ $8.00 ea. ○ 14mm diameter, 14mm tall○ Operating Voltage: 3V - 9V○ 20mA draw when sounding○ Plugs directly into Rx

LED Strobe● Assists in location of lost aircraft by

providing visual cues.● Configuration:

○ Pre-soldered with easy mounting

○ 50mA operational draw○ 3-6V operational voltage - servo

current○ Power Circuitry Included○ Cost: ~$10○ Plugs directly into Rx or APM

~$25 worth of parts can be the difference between lost & found.

GoPro Wifi Test Results● Test conducted for 5 minutes at ~120’ separation

○ No faults observed - servo and throttle tested■ Due to relative signal strength

● Future test (when weather improves)○ Multiple 5 minute test at various ranges

No amount of testing will rule out possible failure due to interference

Receiver Recommendation● Tactic Tx/Rx combo can be used for basic flight

tests○ Does not allow for use of “Return Home” function○ Tactic is a “parkflyer” radio

● Recommend purchasing Spektrum AR6210 for testing with equipment (~$70)○ Utilize Aero Design’s DX6i Tx○ Includes a “satellite receiver” for long range

transmission fidelity○ DX6i has 3-position switches, allowing for “Return

Home” function to work

Higher quality receiver is an easy way to mitigate signal loss risk at range

MSD II Project PlanMajor Toll Gates: 1. All ME work done - Feb. 152. Basic Camera Trigger - Feb. 223. Ready to fly - Mar. 1 4. Aircraft Trimmed w/o weight - Mar. 155. Aircraft Evaluated w/ load - Mar. 296. APM Functionality verified - Apr. 127. Full System Function verified - Apr. 268. System Enhancement - May 10

Backup Slides

gentWIRE-USB• Micro-USB cable• End cut off• Insulation removed• Female header pin attached• Attach to micro controller

Pin Name Cable color Description1 VCC Red +5 VDC2 D- White Data -3 D+ Green Data +4 GND Black Ground

Example Ubasic codewhile 1

dok = get_usb_poweruntil k>0if k < 5 then gosub "ch1up"if k > 4 and k < 8 then gosub "ch1mid"if k > 7 and k < 11 then gosub "ch1down"if k > 10 and k < 14 then gosub "ch2up"if k > 13 and k < 17 then gosub "ch2mid"if k > 16 and k < 20 then gosub "ch2down"if k > 19 then print "error"

wendend

:ch1upprint "Ch1Up-Shoot"; kset_zoom sshootsleep 1000return

Cannon Dev. Kit

http://copter.ardupilot.com/wiki/common-apm-to-chdk-camera-link-tutorial/

Process• Download STICK: Simple Tool for Installing CHDK (Canon

Hacker Development Kit)

• Take a picture with the camera - drop into STICK

• Follow STICK instructions to install correct CHDK version

• Write script in UBASIC and upload to SD card using CHDK

• Attach camera to APM using gentWIRE-USB

• Verify program

Technical Specifications A2200 Gopro

Sensor Type CCD CMOS

(MP) 14 11

Zoom 4 1

ISO 1600 not stated

Recording 1280x720 1920x1080

Weight 135g 73.7g

Dimensions 93.2x57.2x23.66 mm 60.325x41.275x30.1625

Image Compression jpeg jpeg

Risks ComparisonDescription Consequences Causes Likelihood Severity L*S

1

The firmware hack will

not function on camera

The software interface will not work, hard wired solution will have to be

used

A new firmware update is on the

camera1 3 3

2 Canon Camera breaks

new camera must be acquired

plane crashed, usb malfunction 1 3 3

3 Learning the Software

Camera will not work, or has a reduced functionality

Insufficient documentation 1 3 3

4 sd card breaks lose a single run of databad SD card, a

short of some kind, data fault

1 1 1

5 usb cable breaks new one must be made

a crash, improper mounting,

carelessness while testing or

dismantling, general wear and tear or improper original

creation

1 3 3

Description Consequences Causes Likelihood Severity L*S

1The Hero Bus

will not interface with auto-pilot

wires must be soldered to the buttons on the camera

the hero port is locked by a recent firmware update, or the bus simply

will not respond to any input signals, or give any output signals.

3 2 6

2 The Gopro breaks

new camera must be acquired

short circuit or to much voltage applied to bus, battery fully

drained,3 3 9

3

The Gopro will not take

pictures on command

continuous image capture must be used cannot solder wires to buttons 1 3 3

4 Camera delay causes error in orientation and location recording

time it takes to take a picture, any inherent software delays, delay in

signal from auto pilot1 1 1

5 sd card breaks lose a single run of data bad SD card, a short of some kind, data fault 1 1 1

6 proto-board breaks

no longer connected to camera, and hence no

more photo-trigger

a crash, improper mounting, carelessness while testing or

dismantling1 3 3

7 wire disconnect

no longer connected to camera, and hence no

more photo-trigger, only for one run, or until fixed

a loose solder joint, a dry solder joint, vibration of the plane shaking

a wire loose3 1 3

8 EEPROM breaks

no longer connected to camera, and hence no

more photo-trigger, only for one run, or until fixed

small power surge, static shock, small impact, desoldered 2 1 2

gentWIRE-USBSwitch position PWM (ms) USB power (ms)

Channel 1 up 1,900 ms <50

Channel 1 mid 1,500 ms >40 and <80

Channel 1 down 1,100 ms >70 and <110

Channel 2 up 1,900 ms >100 and <140

Channel 2 mid 1,500 ms >130 and <170

Channel 2 down 1,100 ms >160 and <120

Final Cost BreakdownItem Cost Item Cost

A2200 Canon Camera

$97 Gopro $299

gentWIRE-USB $44 Breakout Board

$40

Total $141 $339

Benefits● Decreased Risk● Potential expansion of functionality

Remote

Remote

Camera

absorption foam

Metal Shielding

10 cm

8 cm

2.4 GHz - GoPro Bluetooth remote control frequency 2.4 GHz - Aircraft Radio Control (manual control channel) frequency

Homemade Alarm● 88 db● 5 volt, 85mA● Buzzer: ~$4● Logic components: ~$2● Total: ~$6

Pros: ● We decide form factor

Cons: ● Waste of time● More expensive

Solution 1- Timed Sounding

Solution 2- Fault Sounding

Homemade Locator LightMake our own● 400mA per LED● 3 425 lumen LED, ~$8● Power circuitry, ~$5● Mounting PCB, ~$5● Wiring ~$2● Total ~$20

Pros: ● We decide form factor

Cons: ● Waste of time● More expensive