FlySpy Software Design Narrative

1. Team 12 - Jeremy Tillman FlySpySoftware Design Narrative

2. Overview • Software workflow • Input/Output Format • Costly Calculations • Timing

3. Software Design – Control Algorithm

4. Rx/Tx Coordinate Info to SD • File System Input • Regular txt file format • Line by line command instructions • [Latitude_Coord] [Longitude_Coord] [Altitude] [Pic?] • File System Output • XML File format • Log with timestamps • Position • Orientation • Controls

5. Costly Calculations • The more accurate, the more expensive • Calculating coordinate distance • Calculating change needed in heading • Orientation Algorithms • Accelerometer – Lookup Tables vs. Trig functions

6. Timing • GPS works • Uses a timer at 5hz • Read GPS from receiver • Calculate needed heading and distance • Accelerometer and Gyro • Uses a timer at 50 hz • Sums Gyro change for pitch and roll • Check Accelerometer readings for Gyro correction

7. Timing • Fasted Clock (fosc)– 32Mhz • Fasted Instruction Clock ( fosc/2) – 16Mhz • Instructions costs • Atan – 696 cycles • Sqrt – 493 cycles • Cos – 3249 cycles • Sin – 2238 cycles