2013/Group 2

About
Group 2 also known as Team Charge consisted of the following members

Hardware Architecture

 * [[file:Hardware_Architecture.jpg‎|original|Hardware architecture of the Quadrotor built by Group 2 in 2013]]

Software Architecture

 * [[file:Software_Architecture_Group2_2013.jpg‎|original|Software architecture of the Quadrotor built by Group 2 in 2013]]

Project Conclusions
Here are some noteworthy achievements we would like to bring to notice.
 * We built a fully functional & stable quadcopter at about 35% less cost than last year’s recommended parts list.
 * We implemented the stabilization algorithm for down facing camera. We used sonar sensor in order to measure the altitude but found it to be impractical due to interference issues.
 * One of our important contributions was an alternative altimeter implemented using a laser and a webcam. We tested its performance and found that it proved to be much better than the sonar sensor.
 * We have a standalone front facing camera, which is capable of taking panoramic shots, and detecting AprilTags. This is an important part of the global control algorithm and computer vision.
 * We found some issues while working with the front facing camera. The image distortion occurs due to line-wise exposure. This happens when there are large amounts of the vibrations.
 * Right now, the complete quadcopter system built by us is not stable enough to hover & take panoramic picture automatically.
 * There is a need for integration of front & down facing cameras in order to implement the complete global algorithm which can be used for its autonomous flight.
 * We still have to further develop the global control algorithm for navigation using AprilTags. This is not implemented yet, but the task will be easy once the stability of the system is improved.
 * The overall picture is very favorable. We have been able to develop all the required parts which have been tested separately. The goal of an autonomous flight is not very far once these parts get integrated to form a single stable system.

Pin assignments
Remote:

CH1: Right, Horizontal (Roll)

CH2: Right, Vertical (Throttle)

CH3: Left, Vertical (Pitch)

CH4: Left, Horizontal (Yaw)

Inputs:

CH1 -> PB10 -> ch5 (Roll)

CH2 -> PB11 -> ch6 (Throttle)

CH3 -> PA8 -> ch2 (Pitch)

CH4 -> PA9 -> ch3 (Yaw)

Outputs:

ch2 -> PD12 -> FL (CCW)

ch3 -> PD13 -> FR (CW)

ch4 -> PD14 -> BR (CCW)

ch5 -> PD15 -> BL (CW)

Documents

 * [[media:Group2_Progress_Presentation_03-05-2013.pdf‎|First progress presentation of Group2 in 2013 for the 5HC99 course]]
 * [[media:FinalReport_Group_2.pdf‎|Group 2 Final Report]]
 * [[media:Final_Presentation_Charge_2.pdf‎|Group 2 Final Presentation]]

Code

 * Global Control (.zip)
 * OpenPilot Local Control (.zip)