Stratus Final Report

1. Ryan Rasmussen & Brett Mahnke (Presenting) Caleb Fangmeier Maggie Krause Jiajung Yang December 10, 2012 Stratus Final Report

2. Project Overview Assembly and programming of an open-source UAV and mobile app The process of drone assembly will be documented and an optimal mode of communication with the mobile device selected. The mobile device will have the ability to issue simple commands to the drone. Results aim to broaden research options for NIMBUS labs and provide expanded utility of UAVs. Outputs Inputs Log of progress made on project over time Resources: Websites for building open source drones, open source simulators and software Comparison table of possible communication methods between drone and mobile device Tools, parts, and technical expertise provided by NIMBUS labs Companion document to assembly instructions noting required skills, pitfalls, successes Communication interface ArduCopterand software iOS/Android Constraints: -Time-Hardware Test data, real-time testing, case studies, video Radio control

3. Scope of Work • Project was divided into 2 phases • Phase 1 – First Semester • Assembly of ArduCopter • Testing/Understanding built-in functionality of APM (ArduPilot Mega) • Create detailed assembly instructions document • Create communication options document for sponsors to choose from • Phase 2 – Second Semester • Implement/test communication hardware • Develop interface with NIMBUS existing system • Develop phone application

4. Phase 1 – Mechanical/Electrical Assembly • Available instructions were vague • Browsed ArduCopter forums for missing details • Comprehensive assembly instructions were created and will be delivered to sponsors this week Stratus Final Report

5. Phase 1 – APM Configuration • “Mission Planner” allows for easy updating of firmware and calibration of radio and sensors • Plot way-points on a Google map to create “missions” • Review detailed mission logs Stratus Final Report

6. Phase 1 – Manual Flight Tests • Tests described in requirements document • Ability to safely takeoff, land without damage, switch between manual and automated flight modes • These tests have all been verified • Some tests involve measuring speeds and deviation from a desired path • These tests appear successful to the naked eye • Will have to be verified using the NIMBUS lab 3D camera system Stratus Final Report

7. Phase 1 – Safety Concerns • Crash into NIMBUS lab ceiling • Forgot to detach battery while updating firmware • Near misses • Motors engage when radio transmitter is turned off • Almost hit in face by spinning propeller • On campus testing • People walking around while flying Stratus Final Report

8. Phase 1 – First Successful Automated Flight • Initial automated flight test resulted in crash • No foam covering over barometer (poor assembly instructions) • https://www.youtube.com/watch?v=vjsFJ46skPU Stratus Final Report

9. Phase 1 – Phone Communication Options • Document outlining three options for sponsors to choose from was delivered last week • 3DR Radio – requires attachment for phone (Android only) • Bluetooth – very short range • Wi-Fi – connection not always reliable • Fairly sure they will choose Wi-Fi option • RN-XV wi-fi module based around “WiFly” RN-171 chip • Matches footprint of radio Xbee’s used by NIMBUS lab • Configurable for Access Point mode so a PC, iPhone, or Android can connect without additional hardware Stratus Final Report

10. Phase II (next semester) • Developing phone app is the primary goal • Six basic commands • Due to frequent updates to APM firmware, the phone app will programmed to do all calculations • Determine ArduCopter status and state based on telemetry data • Calculate GPS coordinates when in ‘follow me’, the coordinate need to be offset by 2-3 meters so the copter follow behind rather than on top of the user Stratus Final Report

11. Phase II – Implementing MAVlink • MAVlink is the communication protocol used by the APM • Commands sent to the APM must be formatted using MAVlink for the APM to understand them • Telemetry information sent from the APM must be decoded from MAVlink in the phone app to be displayed to the user • Integration with the NIMBUS system will involve developing a node that translates ROS into MAVlink and vice-versa Stratus Final Report

12. Phase II – Integration with NIMBUS Framework • Node will handle translation between ROS and MAVlink and communication through chosen option Stratus Final Report

13. Phase II – Finite State Machine • FSM will be used to determine valid commands that can be sent from the phone to the APM • Transitions in the FSM represent the six commands • When the ArduCopter is in a given state, buttons on the user interface will be enabled and disabled based on the possible transitions from that state Stratus Final Report

14. Phase II – Phone Application • If Wi-Fi or Bluetooth is the chosen option, we will develop both an Android and iPhone application • Major functionality • Use onboard GPS • Send and receive information using selected option • Use MAVlink libraries to encode/decode APM communications • Display status information • Send commands • Simulate Finite State Machine • Will use telemetry information to determine state of ArduCopter • Enables and disables buttons accordingly Stratus Final Report

15. Phase II – Phone Application Stratus Final Report

16. Issues and Risks • Broken parts • Have already broken several props and 2 motors • Shipping Delays • Have been delayed twice due to shipping needed parts • Unexpected behavior • Crash into ceiling • Crashes in auto mode • Injury • Close calls, people walking around while testing outside • Outdoor testing • May be hard during winter months • GPS accuracy • Essential for safety while in ‘follow me’ mode Stratus Final Report

17. Unexpected Behavior Stratus Final Report

18. Unexpected Behavior • First autonomous flight test • Did not maintain altitude at all, later discovered barometer needed to be covered by foam • https://www.youtube.com/watch?v=ZuvqIwnT5D4 Stratus Final Report

19. Questions? Stratus Final Report