Non fly prototype is build from MLAB prototyping modules.
PPM Decoder/Demultiplexer is build from ATmegaTQ3201A populated by ATmega328 and 16MHz crystal.
Main UAV control board is based on STM32F10xRxT01A ARM microcontroller module populated with STM32F103 microcontroler.
Resistive current measurement sensor with analog output and voltage divider to 3,3V range IUC01A.
Barometric ALTIMET01A pressure and altimeter sensor. And GPS data.
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.
Inercial measurement unit is based on IMU01A MLAB sensor module
Magnetic orientation will be measured by two redundant magnetic sensors modules MAG01A.
Telemetry will be realized by UART ascii output in NMEA like format. Telemetry modules.
Measured data will be stored in SD card. SDcard01B
We will use the JETImodel RC receiver 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. Old JETI Duplex V1 protocol specification
Eigen some algorithms will use quaternions to prevent gimbal lock.
The autopilot software control algorithm will be tested by hardware in loop configuration. Where autopilot hardware will be physical but model of airplane and avionic will be numerically simulated.
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.
Project files are stored in SVN repository (registration required). Remote access is possible by SVN client TortoiseSVN for example. Repository is public for reading, but requires account for write access. If you are interested, write email to email@example.com please.
In Ubuntu run this command to check out all project documents.
svn co svn://svn.mlab.cz/svnUAV
For tasks management and supervision of their implementation we use Redmine.
Other similar known projects for reference:
Project is supported by Universal Scientific Technologies s.r.o. development team