ECE 477 Design Review Team 10  Spring 2008

1. ECE 477 Design Review Team 10  Spring 2008 Paste a photo of team members here, annotated with names of team members. Paul Ng Daniel Bixby David Collins Matt Ligocki

2. Outline • Project overview • Project-specific success criteria • Block diagram • Component selection rationale • Packaging design • Schematic and theory of operation • PCB layout • Software design/development status • Project completion timeline • Questions / discussion

3. Project Overview Overall Objectives • Create an Unmanned Aerial Vehicle (UAV) which is capable of the following: • Autonomous flight • GPS navigation • Ground photography

4. Project Overview (cont) Planned implementation • Multiplex Easy Glider RC plane • Manual takeoff, landing • Controlled by PCB at cruising altitude • PCB triggers digital camera upon reaching GPS waypoints

5. Project Overview (cont) PCB Plane Control - In • Orientation - Thermopile tilt sensing • Velocity, position – GPS Module • Destination data – Pre-written SD Card Out • Drives servos for ailerons, rudder, elevator • Drives motor ESC

6. Project-Specific Success Criteria • An ability to fly an R/C plane autonomously once airborne, based on pre-programmed waypoints. • An ability to decode and display GPS coordinates. • An ability to control motor speed and control surface position. • An ability to capture still images. • An ability to read waypoints from a MicroSD removable storage device.

7. Block Diagram

8. Component Selection RationaleMicrocontroller • Chosen component: MC9S12A64 • Full assortment of required interfaces • 16 bit PWM • Dual SCI ports • Small 80 pin package and modest amount of memory • Familiarity with processor family and development environment • Competing Alternative: HCS12E series

9. Component Selection RationaleGPS • Chosen component: ETek EB-85A • 2.6 m accuracy using DGPS and WAAS • 5 Hz refresh rate • Built in antenna • Extremely light weight: 0.52 oz • Lower price: $100 vs $200 • Competing Alternative: Garmin GPS-18 ETek EB-85A Garmin GPS-18

10. Component Selection RationaleAirframe • Chosen component: Multiplex Easy Glider Electric • Foam construction for durability and easy repair • Glider design for stable flight • Large 71 in wingspan • Included ailerons for flight stabilization • Competing Alternatives: Multiplex Easy Star, Super Cub Electric Easy Glider Electric Easy Star Super Cub Electric

11. Packaging Design • Plane is the package • PCB and camera must fit inside fuselage along with the standard components. • Components must not exceed EasyGlider limit of 31 oz. • Components must be balanced with the structure of the plane. • Excessive mods can alter the aerodynamics of the plane.

12. Packaging Design - Weight

13. Packaging Design - Space Critical Items • PCB - will be mounted on edges of cockpit area, PCB component height requires some hollowing out of cockpit plug • Upgraded Motor – virtually same size as the stock motor, fits in original spot in plane nose • Camera – most difficult, requires the most substantial foam cutting

14. Packaging Design - Space Outside Fuselage • Aileron Servos (2) • Thermopiles (4) • GPS Module Inside Fuselage • Rudder, Elevator Servos • Radio Receiver • Drive Motor ESC • Camera • Battery • Drive Motor • Gearbox

15. Packaging Design - Balance • Nose-heavy • Battery, GPS Module used for final balancing, lever-arm manipulation

16. Schematic (Microcontroller)

17. Schematic (Clock Generator) • Standard Pierce Oscillator. • Follows Manufacturer's Specifications and Requirements for MCU.

18. Schematic (Servo Controls) Manual Override SERVOS

19. Schematic (GPS Connections) 2.8V Regulator LEVEL TRANSLATORS GPS Module

20. Schematic (Camera) Darlington Array Works by pulling low switches on HP Photosmart R707 camera.

21. Schematic (Power Supply) Buck Non-Synchronous Step Down Voltage Regulator Available in both 3.3V and 5V ranges. Up to 87% Efficiency.

22. Schematic (LCD Interface) Uses a MAX3227 Level translator to convert from CMOS to RS-232. Converts from 0-5V to -12 to +12V.

23. Schematic/Theory of Operation Level Translators to 3.3V

24. Schematic (Thermopile) Low Power Amplifiers Thermopiles Thermopiles

25. Schematic (Miscellaneous) Voltage Sensing Circuit Radio Receiver Voltage Sensing Circuit used to gauge battery life to estimate flight time remaining. 10V Zener used for voltage protection

26. PCB Layout • Dimensions: 3.5”x2.5” • High component density • 0805 SMD resistors/capacitors • 2 Power supplies: 3.3V, 5V • Up to 3A current draw per rail • Few sensitive signals • Nets routed by priority • Status: 100% Placed, 94% Routed (Not including ground planes)

27. PCB Layout Top Copper

28. PCB Layout Bottom Copper

29. PCB Layout Microcontroller

30. PCB Layout Clock/Camera

31. PCB Layout Clock/Camera

32. PCB Layout Power Supply

33. PCB Layout Thermopile

34. PCB Layout Plane Control

35. PCB Layout SD Card/LCD/GPS

36. PCB Layout SD Card/LCD/GPS

37. Software Design • SCI and IOC interrupts fill variables then set flags for GPS and radio interfacing • Timer interrupt used to create time stamps • MicroSD interface is polling based • Overall operation in a main loop • Each module is written in its own source and header C files

38. Software Development Status • Completed Interfaces using 9S12C32: • Timer counter used for time stamping • MicroSD card read and write over SPI • Digital camera control using several GPIO pins • Radio receiver tracking with input capture • Servo motor control with 16 bit PWM • Tasks to complete next: • Write GPS interface for 9S12C32 • Port code to 9S12A64 custom dev board • Write stabilization and navigation software

39. Project Completion Timeline

40. Questions / Discussion