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UAV Control Team Cycle 1

UAV Control Team Cycle 1. Caleb Hamilton James Majors Jon Garr. System Metaphor. A system to autonomously control an aircraft. The system will gather input from the GPS and other sensors, and send the data to the groundstation through a servo controller. Cycle Intent.

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UAV Control Team Cycle 1

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  1. UAV Control TeamCycle 1 Caleb Hamilton James Majors Jon Garr

  2. System Metaphor • A system to autonomously control an aircraft. The system will gather input from the GPS and other sensors, and send the data to the groundstation through a servo controller.

  3. Cycle Intent • Our intent for this cycle is to have the plane process communicating with the ground station and sending some vital data for interpretation on the ground station. In addition, we will begin extensive planning on how to visually interpret the data and location on the ground station.

  4. Cycle Progress • User Stories Completed: • Initiate connection (Story 1) • Completed and tested • Send GPS coordinates (Story 2) • Completed • Receive GPS coordinates (Story 3) • Tested using a simulated returns and working • Boot gumstix (Story 6) • Finally got system booting and mapped home directory to SD card • Issues • Hardware issues prevented us from having functional UAV code to properly return GPS string • Receive GPS coordinates needs improvement

  5. Design - Current Use Cases

  6. Design - Receive GPS • NMEA format, comma separated string • “$--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx “ hhmmss.ss = UTC of position llll.ll = latitude of positiona = N or Syyyyy.yy = Longitude of positiona = E or W x = GPS Quality indicator (0=no fix, 1=GPS fix, 2=Dif. GPS fix) xx = number of satellites in use x.x = horizontal dilution of precision x.x = Antenna altitude above mean-sea-levelM = units of antenna altitude, meters x.x = Geoidal separationM = units of geoidal separation, meters x.x = Age of Differential GPS data (seconds) xxxx = Differential reference station ID

  7. Design - Simulate GPS string(due to gumstix issues)

  8. Next Phase • Receive real GPS data from plane • Test parsing and storing of data • Expand to receiving all vital data • Begin work on visual interface • Easy understanding for user • Open Glass Cockpit?

  9. Process Discussion • Collaboration and coding • Gumstix – worked in pairs • Ground Station – individual work • Testing • Booting the gumstix and determining whether or not it was functional • Ground Station testing was performed per method as functionality was implemented • Results • Having 2 people on gumstix allowed for more research and troubleshooting • Gumstix functionality was easy to implement for 1 person

  10. Lessons Learned - Success • The serial modems communicate with each other and we can send and receive data from each. • The Gumstix now has enough room to install the applications that we need in order to run some of the code on the board, such as a java virtual machine and gpsd. • We started construction on some of the electronics that will be on the aircraft and have completed the accelerometer as well as the power supply for it and interface to the Arduino board’s ADC, so we are receiving good data that can be transmitted.

  11. Lessons Learned - Failure • Had problems with getting the Gumstix to boot the file system from the SD card, so we changed our approach to accomplish the same thing a different way by using symbolic links.

  12. Future Plans • Cycle 2 • Creating UAV System to properly communicate with groundstation • Gather necessary data from gumstix • Find out format to send to groundstation

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