LogDAT Flight Data Logging Solution for Small Aerial Vehicles

1. LogDAT Flight Data Logging Sponsored by L3-Communications Group 9

2. Group 9 Members Winston James EE Brian Lichtman CpE Shaun Mosley CpE Tony Torres CpE

3. Motivation L3-Communications uses a software set (DATCOM) to calculate expected flight characteristics of large fixed-wing aircrafts L3 has asked for a solution to verify the accuracy of their software set when used on small aerial vehicles

4. Project Objective Record vital parameters from test flights of a model airplane Portable and easily adapted to other aircrafts Provide easy way to obtain recorded data and compare with L3s software set

5. Specifications Ability to record data at speeds of at least 60 Hz Aircraft should be able to fly for at least 20 minutes while recording data Test vehicle must have a wingspan larger than 3 feet Must not have more than lb weight offset to one side Cost must be under $1500.00

6. Requirements Lift Coefficient due to: Basic geometry (CL ) Flap deflection (CL f) Elevator Deflection (CL e) Pitch Rate derivative (CLq) Angle of Attack Rate derivative (CL dot) Drag Coefficient due to: Basic geometry (CdD) Flap deflection (C f) Elevator deflection (Cd e) Side Force Coefficient due to: Sideslip (Cn) Roll Rate derivative (Cnp) Yaw Rate derivative (Cnr) Pitching Moment Coefficient due to: Basic Geometry (Cm) Flap Deflection (Cm f) Elevator Deflection (Cm e) Pitch Rate derivative (Cmq) Angle of Attack Rate derivative (Cm dot) Rolling Moment Coefficient due to: Aileron Deflection (Cl a) Sideslip (Cl) Roll Rate derivative (Clp) Yaw Rate derivative (Clr) Yawing Moment Coefficient Aileron Deflection (Cy a) Sideslip (Cy) Roll Rate derivative (Cyp) Yaw Rate derivative (Cyr) Misc Horizontal Tail Downwash Angle ( ) Derivative of Downwash Angle ( / ) Elevator-surface hinge-moment derivative with respect to alpha (Ch ) Elevator-surface hinge-moment derivative due to elevator deflection (Ch ) Normal force coefficient (body axis) (CN) Axial force coefficient (body axis) (CA)

7. External Components

8. Model Airplane MQ9 Reaper used by USAF, US Navy, CIA Picked to meet L3s request Dimensions: 8.3 ft wingspan x 3.6 ft length Price: $100.36

9. Autopilot Autopilot is installed on an aircraft to allow for flight stabilization, auto takeoff, landing and fixed flight patterns Basic units are GPS, accelerometer, gyroscope, servos, telemetry Multiple types and brands are manufactured

10. Autopilot Selection ArduPilot Mega Open-source firmware Relatively cheap Great community support Free telemetry software Price: $415.00 Before testing in actual flight, we will test the ArduPilot in the FlightGear simulator

11. ArduPilot Software

12. Hardware and Firmware Integration

13. Hardware Design DYNAMIC PRESSURE q = 1/2 V 2 o Dependent on True Airspeed (TAS) o Dependent on air density (rho) o Dependent on AOA FORCE COEFFICIENTS TORQUES COEFFICIENTS TAS o PITOT-TUBE PRINCIPLE AOA & AOS o BOOM

14. HARDWARE BLOCK DIAGRAM

15. FORCE SENSORS FORCE SENSORS MFGR: INTERLINK ELECTRONICS PN: FSR402 THIN MEMBRANE TECHNOLOGY SMALL = 18.28mm DIAMETER LOW POWER = 2.5mW CHEAPEST SOLUTION FORCE RANGE: 0.352 oz. to 22lb! ALTERNATIVE ZEBRA SYSTEM

16. FORCE SENSOR TERMINALS

17. Accelerometer MFGR: ST MICROELECTRONICS PN: AIS326DQTR MET SPEC EXCELLENT BW SENSITIVITY 3-AXIS SPI LOW POWER= 2.64mW HIGH SENSITIVITY: 1024LSB/G 0.977mm /s 2 PER LSb Gyroscope ST MICROELECTRONICS P/N: L3G4200DTR MET SPEED REQUIREMENT: 1MHz > 60Hz 3-AXIS SPI LOW POWER: 18.91 mW HIGH SENSITIVITY: 8.75 dps/lsb FREE SAMPLES! Inertial Measurement Unit

18. Inertial Measurement Unit

19. Boom Sensors JUSTIFICATION P/N: MPXV7002DP RANGE: 2 kPa REQ: +1.475 kPa dynamic pressure = 50m/s velocity at sea level ACCURACY: 2mV/Pa SAMPLED ANALOG SENSOR USED IN OTHER DRONE PROJECTS LOW POWER = 50mW JUSTIFICATION MFGR: MURATA P/N:SV01A103AEA01B00 LOW POWER: 5mW LONG LIFE: 1M CYCLES WIDE RANGE: 0-333 VERY THIN FREE! Q= [Vout 6.25%(Vs-2.5 v )-0.5 v ]/ [0.2Vs]

20. BOOM SENSORS

21. Hardware: Humidity Sensor HUMIDITY SENSOR MFGR: HONEYWELL P/N: HIH-5031-001 ANALOG SENSOR LOW POWER= 1.65mW SMALL SIZE PURPOSE: AIR DENSITY FREE! TEMPERATURE SENSOR MFGR: ANALOG DEVICES P/N: AD7814ARMZ SPI INTERFACE LOW POWER =1.32mW PURPOSE: AIR DENSITY FREE! BAROMETRIC PRESSURE SENSOR MFGR = BOSCH P/N: BMP085 ANALOG SENSOR LOW POWER = 0.03mW ALTITUDE RANGE: 0 to 29,528ft (9000m) ACCURACY: 100Pa 27ft = 8.22m PURPOSE: AIR DENSITY

22. ALTITUDE SENSORY

23. POWER SUPPLY

24. MCU

25. Microcontroller Unit (MCU) Selection MCU Chosen Microchips dsPIC33EP512MU810 Aspects reviewed were: Does it meet our I/O requirements? What programming and debugging resources are available? What kind of support is available for the MCU? Can we get free samples of the products?

26. I/O Requirements I/O Requirements: 34 Analog I/O 30x Force Sensors 2x Angle Sensors 1x Differential Pressure Sensor 1x Humidity Sensor 4 SPI (Serial Peripheral Interface) Digital I/O Accelerometer Gyroscope Temperature Sensor SD Card Interface 1 I 2 C (Inter-Integrated Circuit) Digital I/O Barometric Pressure Sensor FSR 402 Force Sensor

27. MCU Programming and Debugging Environment Free academic version of their C compiler and debugger with graphical IDE Includes code optimization not available in the normal free version. Fully functional with all libraries and source code of commercial version Memory Disk Drive File System Library Multi-level code optimization

28. Available Support There is abundant documentation for the use of dsPic33s Large collection of online training videos provided by Microchip Online 24hr support system for technical support along with a large support forum community Large collection of example code

29. Sample Availability 3 dsPIC33EP512MU810 MCUs 2 Free Samples of the ICD3 2 Free Samples of the Explorer 16 development board 2 Free Samples of dsPIC33EP512MU810 daughter boards for use with the development boards

30. MCU Software Design Software will be split into two separate sections: Data acquisition Data storage

31. Data Acquisition The MCU firmware will be designed to poll sensors at a minimum rate of 60hz. 1. Grab data from sensor The analog sensors will be read 4 at a time Digital sensors will be read sequentially 2. Convert each sensor value to an IEEE floating point number 3. Send data to data storage buffer 4. Repeat until all 38 sensors have been read

32. Data Storage Using the file system library from Microchip, an SPI interface will be used to communicate with an SD card. A data storage buffer will wait until 38 values are received Once this occurs, the buffer will be flushed to the SD card as raw binary

33. PCB LAYOUT

34. Power Consumption PART NUMBER SENSORS MAX POWER (mW) Vdd (V) Idd (mA) L3G4200DTR 3D GYRO 18.91 3.1 6.1 AIS326DQTR 3D ACCELEROMETER 2.211 3.3 0.67 AD7814 TEMPERATURE SENSOR 1.32 3.3 0.4 HIH-5031-001 HUMIDITY SENSOR 1.65 3.3 0.5 FSR402 FORCE SENSOR 80 5 0.5 MPXV7002DP DIFFERENTIAL PRESSURE SENSOR 50 5 10 BMP085 ABSOLUTE PRESSURE SENSOR 0.03 2.5 0.012 OPA244UA AMPLIFIER 4 5 0.05 DSPIC33EP512MU810 MCU 1980 3.3 840 SN74LV4051APWR 8 CHANNEL MUX 0.4 5 0.02 SV01A103AEA01B00 SMD HOLE ANGLE SENSOR 333 DEG 5 5 1 TOTALS FOR LOAD 2143.521 mW 859.252 mA MAX power handling ADP3338AKCZ-3.3RL7 3.3v supply 3300 3.3 1000 ADP3338AKCZ-5-R7 5v supply 5000 5 1000 SUPPLY CAPABILITIES 8300 mW 2000 mA

35. Software Design

36. Software Overview Graphical User Interface (GUI) The GUI is a simple interface to make the file selection process much simpler than using the command prompt. Program execution The program will execute after the "Create" button is clicked. From there it will perform all the functions that need to take place to translate the input data to readable data for the user.

37. Data Structures I choose to use a linked list for memory concerns Linked List Can only access the next value Is the exact length of the data and only adds one at a time With only one node being made at a time a linked list insures the minimum amount of memory being taken.

38. GUI Source text box is to specify the source file location Destination text box is to specify the name and destination of the file to be created The create button will run the computations to do the conversion from a binary to a csv file

39. Software Design Required measurements o Parsed Data Forces q Angle of Attack o Derivatives o Moments o Calculated measurements o Force and moment Coefficients o Coefficients due to different parameter on the plane o C L due to AOA

40. Software Design

41. Software Formulas Rz = Ry = Rx = F=

42. Formulas for Coefficients

43. Administrative

44. Budget Parts List Group TOTAL Plane Parts $301.88 Autopilot Parts $424.95 Sensor Parts $186.07 Other Parts/ Labor $296.24 Overal l Cost $1209.14

45. Work Distribution Winston J. Hardware and power consumption Brian L. Data handling and help with data acquistion Shaun M. Autopilot and data acquisition Tony T. User software application

46. Questions