Air Vehicle Controller

Joshua Childs

JChilds(at)ufl(dot)edu

 
 

Goals:

Have a universal controller that supports a verity of air vehicles.  For initial testing the platform will be a GWM Slow Stick.  Future rotary wing test will take place on the quad copter.  The controller gives the programmer full use of an IMU, GPS and barometric pressure sensor.  This allows the developer to design a custom control loop to their aircraft.  For this project I will mount this controller in the Slow Stick and have it fly a programed path.  For safety I will have a RC controller and a mux board on the airplane.

 
 
Progress:

To date the c library is almost complete.  I currently working on or have completed the following functions.

·       Wireless Communication Library

·       IMU Library (includes barometric pressure sensor)

·       PID Control Library

·       Servo Control Library

·       GPS Decoder(in progress)

·       Orientation Control Library (in progress)

·       Path Planning Library (in progress)

The hardware has been mounted to the airframe after an unfortunate mishap with the quad copter motors.  I am hoping to get a clear day soon so I can tune the PID controller on the airplane.  I also have new motors for the quad copter so hopefully it can try to fly again after the plane is done.
 
AVC Controller Specs:
Comm: XBee Pro
IMU: 3 axis Accelerometer and Gyro
Altitude: High resolution pressure sensor
Position: 5 Hz GPS receiver
 
 
Platform:

GWS Slow Stick

 

Image from towerhobbies.com

This slow stick has been modified to carry the payload.  Part of this modification is a more powerful brush less motor and a 2200mAh Li poly battery.  This board also has a custom servo mux that allows a standard RC controller to remain in control at all times.
 
 
Future Platforms:
Quad Copter

 

 

This quad copter is built from 5 ply wood custom cut on a CNC mill.  It uses 4 750 kV motors each drawing ~250Watts.  It carries 2 2200 mAh  4S Li poly battery.  This vehicles has a estimated payload of 1lb.
 
 
Ground Controller:
To control the platform from the ground I have a modified RC transmitter that I have rewired with an XBee and a 4x20 LCD screen.  This link to the AVC allows for real time display of telemetry data and the planes status.  You can also change the current way point and operation mode from the controller.