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ECE 477 Senior Design MRAV – Multi Rotor Autonomous Vehicle. Team 9 April-29-2011. Project Overview. Quad-rotor helicopter Autonomously self-stabilizes PID Control Theory Sensor Fusion Triple Axis Accelerometer Triple Axis Gyroscope Triple Axis Magnetometer Barometric Pressure
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ECE 477 Senior DesignMRAV – Multi Rotor Autonomous Vehicle Team 9April-29-2011
Project Overview • Quad-rotor helicopter • Autonomously self-stabilizes • PID Control Theory • Sensor Fusion • Triple Axis Accelerometer • Triple Axis Gyroscope • Triple Axis Magnetometer • Barometric Pressure • Ultrasonic Range Finders • GPS • Communicates with ground station using Xbee wireless
Design Challenges Faced • I2C Communication Protocol • Floating Point Arithmetic • Wireless Communications • PID Control Theory and Application • Huge amount of code Debugging • High RAM usage
ECE270/362 Knowledge Used • Power Requirements / Chip Selection / Reading Data Sheets • Using IDE and Programming Microcontrollers • Microcontroller Peripherals • ADC • PWM • I2C • SPI