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====== Experimental construction of Unmanned Aerial vehicle ======

Project files are stored in [[svn://svn.mlab.cz/svnUAV|SVN repository]] (registration required). Remote access is possible by SVN client [[http://tortoisesvn.net/downloads.html|TortoiseSVN]] for example. Repository is public for reading, but requires account for write access. If you are interested, write email to kaklik@mlab.cz please. 

===== "Žehlička" UAV02A =====

{{:cs:designs:uav:uav2.png?direct&300|}}

==== Major improvements ====

  * More reliable bus infrastructure (CAN)
  * More volume and weight capacity for experimental avionics and payload
  * Adding additional control layer realised by powerfull ARM computer [[en:odroid-x2|ODROID-X2]],


===== Flying wing "Samokřídlo" UAV01A =====

{{:cs:designs:uav:uav_02.png?direct&400|}}


==== Airframe ====

=== Mechanical Construction ===


=== Virtual mathematical model ===


==== Control System ====

{{:cs:designs:uav:control_system.png?direct&600|}}

=== Required features ===

  * 10Hz update rate
  * Airspeed (min 16m/s, avg 22,3 m/s, max 30m/s) 600Pa max
  * Barometer (Air density, altitude)
  * Humidity sensor (Fail safe, Air density)
  * Temperature sensor (Fail safe, Air density)
  * Camera?
  * Battery Voltages, Currents (Battery gas gauge)
  * Engine power sensing, max engine current 30A.
  * GPS
  * IMU (Akcelerometers -3G to 5G)
  * Magnetometer


=== Hardware ===

== Non fly prototype ==

Non fly prototype is build from [[http://www.mlab.cz|MLAB]] prototyping modules. 

{{:cs:designs:uav:dev_board.jpg?direct&300|}}

== CPUs ==

PPM Decoder/Demultiplexer is build from [[en:atmegatq32|ATmegaTQ3201A]] populated by ATmega328 and 16MHz crystal.

Main UAV control board is based on [[http://wiki.mlab.cz/doku.php?id=cs:stm32f10xrxt|STM32F10xRxT01A]] ARM microcontroller module populated with STM32F103 microcontroler.

== Sensors ==

== IAS ==

  * [[http://www.sensirion.com/en/04_differential_pressure_sensors/01_sdp600-differential-pressure-sensors|Airspeed]] - Differential pressure.

== GPS ==

  * [[cs:gps|GPS01A]] module.
  * [[http://www.v-torch.com/downloadfront.do?method=picker&flag=all&id=8dc0a281-ff0f-4b87-a993-deda31ebbacb&fileId=f1cf3f67-0628-48a0-8fe2-5b32b90324be&memstate=/MemberLogin.html|VTGPSIA-3]] GPS patch antenna

== Current and Voltage sensor ==

Resistive current measurement sensor with analog output and voltage divider to 3,3V range [[cs:iuc|IUC01A]].

== Altitude measurement ==

Barometric [[cs:altimet|ALTIMET01A]] pressure and altimeter sensor. And GPS data.

== Absolute terain altimeter ==

Absolute terrain altimeter is necessary for correct landing procedure. It can be resolved by several methods laser, ranging, radar ranging, camera terrain angle speed measurement, camera laser trigonometry, and sonar ranging. 

We would use the simplest sonar ranging method at beginning.    

== IMU ==

Inercial measurement unit is based on [[cs:imu|IMU01A]] MLAB sensor module

== Magnetometers ==

Magnetic orientation will be measured by two redundant magnetic sensors modules [[cs:mag|MAG01A]].

=== Telemetry ===

Telemetry will be realized by UART ascii output in NMEA like format. [[http://www.mlab.cz/Server/GenIndex/GenIndex.php?path=%2FModules%2FCommRF&lang=cs|Telemetry modules]]. 

Another considered variant is use of some more powerfull telemetry modules [[http://www.radiometrix.com/|Radiometrix modules]] or [[http://www.sectron.cz/produkty/147-laird-technologies/310-proprietarni-868-mhz/1444-868mhz-radio-module-ac4868-250-mw-rs232-mmcx.html|Laird Technologies AC4868]] 

=== Data logging ===

Measured data will be stored in SD card. [[cs:sdcard|SDcard01B]]


=== Radio Control ===

We will use the JETImodel RC receiver [[http://www.jetimodel.com/index.php?page=product&id=165|JETI Duplex RSAT2]] Some interesting capability of JETI Duplex technology is duplex comunication between receiver and transmitter. So telemetry download via JETI Duplex RC receiver could be possible. [[http://www.mlab.cz/Articles/PodKapotou/JETI_Duplex/DOC/JETI_BUS.en.pdf|Old JETI Duplex V1 protocol specification]]

==== Software ====

=== Ideas ===

== linear algebra ==
  
 [[http://eigen.tuxfamily.org/index.php?title=Main_Page|Eigen]] some algorithms will use quaternions to prevent gimbal lock.

== realtime OS: ==

   * [[http://www.chibios.org/dokuwiki/doku.php?id=start|ChibiOS]]
   * [[http://www.freertos.org/|FreeRTOS]]

Bachelor's thesis about foundation for our control algorithms. [[https://dip.felk.cvut.cz/browse/details.php?f=F8&d=K102&y=2012&a=suchmari&t=bach|Marián Šuch 2012]]

=== Testing ===

The autopilot software control algorithm will be tested by [[http://en.wikipedia.org/wiki/Hardware-in-the-loop_simulation|hardware in loop]] configuration. Where autopilot hardware will be physical but model of airplane and avionic will be numerically simulated.


====== Ground control station ======

Provedeni DGPS:
Pozemni stanice bude vysilat vlastni telemetrii, ktera bude obsahovat DGPS korekce. Ty se v UAV pouziji pro vypocet polohy, ktera se opet telemetrii odesle do pozemni stanice. 
Navigace tak bude v podstate rozdilova proti pozemni stanici. 
To umozni snazsi definovani bodu trasy a nasledne i pripadne zjednodussi budouci moznost pristavani pobliz pozemni stanice.  


==== Hardware ====

=== Datalinks ===

  * [[http://www.ust.cz/shop/product_info.php?cPath=22_27&products_id=41|USB232R01B]] USB to serial converter. 

=== Programmers ===

  * [[http://www.ust.cz/shop/product_info.php?cPath=22_23&products_id=33|ATprogISPUSB02A]] AVR micro-controller  programmer.


====== Administrative ======

==== People ====

  * Ivan Jerabek
  * Jakub Kákona - kaklik@mlab.cz
  * Marian Such
  * .
  * .
  * .


==== External links ====

Other similar known projects for reference:

  * [[http://paparazzi.enac.fr/wiki/Main_Page|Paparazzi Autopilot]]
  * [[http://rtime.felk.cvut.cz/helicopter/|CVUT RAMA]]
  * http://pixhawk.ethz.ch/wiki/
  * http://code.google.com/p/ardupilot-mega/
  * http://www.openpilot.org/
  * http://gluonpilot.com/wiki/Main_Page
  * http://code.google.com/p/gentlenav/
  * http://slugsuav.soe.ucsc.edu/index.html
  * http://www.sensesoar.ethz.ch/doku.php?id=solar_airplane_design#autopilot

=== Partners of project ===

Project is supported by [[http://www.ust.cz/|Universal Scientific Technologies s.r.o.]] development team {{ :logo_ust.png?nolink|Universal Scientific Technologies s.r.o.}}

==== Law & legal issues regarding UAV ====

[[Legislativa|Model parameters and radio transmissions limits]] (cz only) \\
[[http://www.caa.cz/postupy-pro-vydani-povoleni-k-letani-letadla-bez-pilota|Postupy pro vydání povolení k létání letadla bez pilota na palubě (UCL)]]