MSU Quad-Copter

The goal is to create a stable flying quad-copter. The quad-copter will use four brushless DC motors and four props controlled by four electronic speed controllers (ESCs). the project will be to control the DC motors using information from a navigation and inertial measurement unit (NIMU). The NIMU will be built from a GPS unit, a three-axis accelerometer unit (BMA 180), a three-axis gyro unit (ITG-3200), a barometric pressure sensor (BMP085), and a three-axis magnetometer unit (HMC5843). The project will entail interfacing the NIMU subunits to an appropriate microcontroller/FPGA and then using the NIMU information to implement a controller that will result in stable flight for the quad-copter.


	MISSION STATEMENT The goal is to create a stable flying quad-copter. The quad-copter will use four brushless DC motors and four props controlled by four electronic speed controllers (ESCs). the project will be to control the DC motors using information from a navigation and inertial measurement unit (NIMU). The NIMU will be built from a GPS unit, a three-axis accelerometer unit (BMA 180), a three-axis gyro unit (ITG-3200), a barometric pressure sensor (BMP085), and a three-axis magnetometer unit (HMC5843). The project will entail interfacing the NIMU subunits to an appropriate microcontroller/FPGA and then using the NIMU information to implement a controller that will result in stable flight for the quad-copter.
	FIRST MILESTONE- WORKING NIMU Estimated Completion: March 4, 2011 Specifics: Devices ITG-3200 Triple-axis Gyroscope Data outpu in degrees/s BMA 180 Triple-axis Accelerometer Data output in G HMC5843 Triple-axis Magnometer Data output in heading: N, S, E, W BMP085 Barometric Pressure Sensor Data output in pressure (pa) and altitude (ft) GPS Unit Data output Arduino Uno Interfaces all the devices Interfacing All devices' data output needs to be used simultaneously to calculate the correct position and inclination of the quad-copter The algorithm that will be used to calculate the inclination of the quad-copter will be a simplified Kalman filter. This algorithm will be using the data coming from the accelerometer, magnometer, and the gyroscope Platforms Arduino 0022 This platform initializes the devices Processing 1.2 This platform is used to show the data coming from the devices as well as the inclination of the quad-copter, the heading, the pressure, and finally the heading
	SECOND MILESTONE- BRUSHLESS DC MOTOR INCORPORATED WITH ESC SPEED CONTROLLER
	Estimated Completion: April 15, 2011 Specifics: Devices Four Brushless DC Motors Turns the propellers for the quad-copter Four TURNIGY ESC Speed controllers BEC Outputs voltage to the motors to power them Takes in pwm from receiver to tell the motor how fast it should be turning Hyperion G3 VX 35C/65C Li-Poly Pack Powers the speed controller 18.5V 160.0 x 47.0 x 58.0 867g Traxxas 3-channel 27 MHz receiver Takes in the pwm from the transmitter to output to speed controller Traxxas 27 MHz transmitter Is the throttle for the motor Battery Voltage Detecting Circuit Circuit to detect the voltage from the battery pack to sound an alarm if the voltage of the battery pack is starting to decrease
	ABOUT US Group Wyatt Hermanson- Computer Engineer with minor in Electrical Engineering. Asif Ahmed- Computer Engineer Faculty Advisor and Sponsor Ross Snider

MSU QUAD-COPTER