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Joseph Laub ECE 499 Report

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1. oO 00 0 the first byte of a byte word in each cycle The cycle length is the amount of bytes for each data point in a variable MES data numzstri mum2str k F3 1 This loop cycles through a byte word and shifts and or s it all together for one data point t is the current byte in the cycle for t 12 c 1 sval l LEB gata num2str j num2str ktt Tf ws l MSB bitori bitshift MSB 8 LSB end tempData i MSB i i 1 end eval data num2str j tempData end end disp Data sorted and restored char 10 Recorect Data Scaling Some of the data might have been scaled before it was written to the EEPROM Use the For loops to correct the data for i l varCount s2 Enter a scale to multiply with eval var Or enter 1 for no scaling char 10 scaler input s2 eval data num2str i data num2str i end Gio disp Data scaled where appropriate char 10 Enter Units for Data User enters the units associated with the variables for i l varCount s3 Enter the units associated with eval var a Char L0 j unitcsInput anpue ss TET eval data num2stri i Units unitsIinput end Plot Data User chooses if he she wants all of the data in a subplot plot or individual plots CLE numZzstr i a e scaler numzstria e Reading and Formating EEP ROM Dat
2. Transmitter Microcontroller e 8 OD oO a a E I I J I I I I I I Video Receiver Figure 6 The preliminary proposed design for the telemetry system 22 Union College 2015 Aero Design Team Telemetry Systems Most of the work on The Yorktown was related to the DAS The design includes the MPL3115A2 altimeter and the EagleTree Airspeed MicroSensor V3 Using these two sensors airspeed altitude and temperature were recorded Temperature was recorded as a placeholder for other variables in future designs At the beginning of this project research was done for the Advanced Class competition by simulating the drop of a three pound humanitarian aid package When the aircraft is airborne it will be collecting data and relaying altitude airspeed and groundspeed to the ground station Latitude and longitude are not relevant for the copilot at the ground station This information can then be processed and the estimated amount of lead distance to the target can be computed MATLAB was used to simulate the fall of a three pound payload from a given altitude and groundspeed Taking drag forces into account a simulated fall from the aircraft from 100 feet at 10 mph a reasonable speed for a slow flying aircraft based on videos from past competitions can be seen in Figure 7 Aircraft traveling at 10 mph at 100 feet Aircraft traveling at 10 mph at 100 feet Side View Projectile Path 35 seseesseneed SE
3. Wire write int clearAddr gt gt 8 MSB Wire write int clearAddr amp OxFF LSB Wire write clearData Wire endTransmission delay 5 digitalWrite infoLEDPin LOW dataAcqusitionLoop Joseph Laub 2 16 15 This is the Data Acquisition Loop for Hornet Hornet uses I2C protocol to communicate with various sensors The order of events in the Data Acquisition Loop are Find Data Make Necessary Corrections to Data Store Data in EEPROM Chip Transmit Data Check for Stop Button Repeat The following variables are recorded by the system Air Speed Altitude Ground Speed GPS Altitude Latitude Longitude Pressure Temperature Time Time of Fight The following sensors are used in the Hornet system Telemetry Systems Laub 55 Eagle Tree Air Speed Sensor V3 Air Speed MPL3115A2 rr Altitude Pressure Temperature NOeVIBAtronv2 scanir rin Ground Speed GPS Altitude Latitude Longitude VEGITSO iran Time of Flight nitilizing variables boolean dataLoop true Iftrue then keep looping the data acquisition loop If false return byte timeLSB 0 Holds the least significant 8 bits of the timeBin byte timeMSB 0 Holds the most significant 8 bits of the timeBin float airSpeedData 0 Set air speed value to zero for start float altitudeData 0 Set altitude value to zero for start float pressureData 0 Set pressure value to zero for start float timeBeforeLoop 0 T
4. lt Constants A pi r 2 Area of package estimated as g 9 81 Gravity m s s m m 0 453592 mass of package kg targetR tr feetToMeters Radius of target dt 0 01 Time step n 0 Step stopping number Calculations vy0 vx0 vz0 0 of 100 feet 30 5 meters velocity velocity velocity 5cm radius area meters Humanitarian Aid Pack age Drop Simulation dy 1 0 dz 1 alt 1i 1 while dz i gt 0 az g OOo CD ASWZX1L 2 va Lt tL wei az dtj oO o o dz i 1 dz 1 vzit dL 0 b5 az d0 2 new distance in z ax 0 0 rho CD A vx 1 2 acceleration in x direction vx 1 1 vx i ax dt 6 VeECOCILY in z direction dx i1 1 dx i vx i dt 0 5 ax dt 2 new distance in x ay U 5 Eno CD77 Avy 1 ay acceleration in y direction Vy ith yy ay dc 6 vecocity in y direction dy 1 1 day 1 vy 1L dt 0 5 av d0 2 amp new distance if y 1 i 1 end leadTime length dx 1l dt leadDistance dx length dx 1 Create Target Circle theta 0 pi 50 2 pi targetX targetR cos theta leadDistance CartgecY targetk Sinithera Plot Results if max dx gt max dz axisLimit ceil max dx 1 15 else xisLimit ceil max dz 1 15 4 end figure stri Aircraft traveling at num2str xSpeed TR y num2str ySpeed v num2str zSpeed z gt mph Altitude num2str a
5. along with some of the priority II requirements Table 4 below shows which requirements had been met by which component and how 20 Union College 2015 Aero Design Team Telemetry Systems Table 4 Requirements met by component selection PRI Filled 434 MHz transmitter to receiver and Arduino Mega 2560 connected to a laptop and serially monitoring software Filled MPL3115A2 altimeter s precision within one foot PR4 Filled 434 MHz transmitter to receiver and Arduino Mega 2560 connected to a laptop and serially monitoring software bi ich i Laub 21 5 0 PRELIMINARY PROPOSED DESIGN 5 1 PRELIMINARY TELEMETRY SYSTEM DESIGN The preliminary proposed design for the telemetry system project was named The Yorktown This was designed during the fall of 2014 and was the telemetry system on the aircraft up until January of 2015 when it was replaced by the design in section 6 0 named The Hornet From the systems and subsystems of Figure 1 from section 3 4 The Yorktown consisted of the DAS the FPV system and the FPD system However given the cost of the FPV and FPD systems these were never mounted on the aircraft due to concerns of possible crash before the competition The GPS memory unit transmitter and UI had not been designed or implemented yet The preliminary proposed design block diagram can be seen below in Figure 6 a DA I sees eee eee Air speed Sensor silicio ee ee eee ee eee ae Aircraft Video
6. harmonic overlaps with the GPS s frequency of 1575 42 MHz Therefore the 434 MHz transmitter shown with the receiver in Appendix H was chosen to avoid interference The FPV and FPD system components were selected by greatly considering PR9 and PR1O from Table 3 Reducing the size and weight of these components was essential in their selection because a camera such as the GoPro was considered too large and heavy The cameras shown in Figure 5 below were the two smallest commercially available cameras found on the market Airy 3g Mini Camera Metal Casing 110 Wide Angle Figure 5 Airy 3g Camera Left Sony FPV Camera Right The Airy 3g camera was selected because of the clear weight and size reductions compared to the Sony FPV Camera where the Airy weighs 3 grams the Sony weighs 71 grams The Sony FPV Camera s main advantages are price 40 cheaper and the swivel arm that could be connected to the aircraft The camera could be easily rotated for a more precise angle however the size and weight advantages of the Airy 3g Camera are more important to the project than the swivel arm advantage The Airy 3g Camera also has a recommended Boscam Transmitter and Receiver pair pictured in Appendix I which help simplify the FPV and FPD systems The receiver RCA plugs can connect to any monitor with RCA ports 4 3 REQUIREMENTS MET Through the selection of these components most of the mandatory and priority I requirements were filled
7. in ft altitude is returned multiplied by 100 to preserve two decimal places ToFData sensor getDistance in mm Time of Flight data measures distance from base of plane to ground to about 25 cm altitudeData altitudeData 100 zed Altitude was multpied by 100 to preserve two deciaml places Correct this magnitude 56 Union College 2015 Aero Design Team Telemetry Systems pressureData pressureData 1000 Pressure was multiplied by 1000 to preserve accuracy for int variables Correct the magnitude altDecData altitudeData floor altitudeData 100 This takes the decimal value of the altitude altitudeData floor altitudeData Rounds down the altitude so that we can add the decimal values back later timeBin timeBeforeLoop 10 Time is stored in units of centiseconds timeMSB timeBin gt gt 8 The most significant bits of time in cs timeLSB timeBin amp 255 The least significant bits of time in cs Serial println HORNET TELEMETRY DATA Serial print TIME ELAPSED t Serial print timeBeforeLoop 1000 Serial printin t s Serial print TIME ELAPSED t Serial print timeBin BIN Serial printIn t cs in binary Serial print TIME MSB t Serial printlIn timeMSB Serial print TIME LSB t Serial printIn timeLSB Serial print ADDRESS t Serial print address Serial printin tEEPROM Serial print AIR SPEED t Serial print airSpeedData Serial printiIn t mph
8. 11 0 CONCLUSIONS AND FUTURE WORK The goal of this telemetry system project was to design and build a system that could be used for testing prototypes and for the Advanced Class competition The current system The Hornet accomplishes most of the goals set in Table 3 This system is ready to be installed on an aircraft and flown for testing as soon as the current prototype aircraft is complete Work will continue and The Enterprise system will become the final telemetry system for next year s team By designing this system to fulfill the telemetry and data acquisition requirements set for the Advanced Class competition next year s team can focus on the aircraft design and not the telemetry It is not possible to classify the success of this project until the prototype aircraft has flown and data is recorded The outcome of the test flight with the telemetry system will determine if this project has been a success for this year s team Lab tests and simulations have been able to prove that this system works however no field tests have been completed to this date The telemetry system project will continue past the scope of this capstone project to make sure that next year s team can compete in the Advanced Class competition for the first time in Union College s history 12 0 ACKNOWLEDGMENTS Brad Bruno John Butkus Gene Davison Josh Fields Lisa Galeo Jim Hedrick Robert Lattanzi Ervin Meneses Schneider Electric John Spinelli James Taylor Ma
9. 20100 leader NES 8 Dis Cadi INC Uil taehantonkew uedausbinsses te unadentadaben tun A ESR 9 Table 2 Requirements generated by the 2015 Union College Aero Design Team 9 gt S Requiremens Prionized ill laicale 10 Fable Requirements prio ntzed ica 10 3 4 Functional Decomposition of the PrOJect 1 Figure 1 Systems and subsystems of the telemetry project 12 A A We STA Alena YC aa a a a a E eet 12 AERES AO ra N E ole li iii i 12 4 11 Data NCQUISITION RESC Are Miir a E a lalla 12 Pona 160 eee a ea 12 Figure 2 A pitot static tube where P is total pressure and P is static preSSUure 13 EgueionZi lalla 13 41 2 Commumesnon ProtocoLRescarthissrreleaaealaalai 14 Feur RCexampletiichii aaacasa 15 A 2 Iustlricanonoi Componenis avallare 15 4 2 1 Communication Protocol and Microcontroller Selection 15 Figure 4 From left to right Digilent s chipKIT Max32 Prototyping Platform the Arduino Mega 2560 and the APOIO MLE O spirale 16 4 2 2 Sensor and Memory Unitselecnons lil 17 Figure 5 Airy 3g Camera Left Sony FPV Camera Right 19 4 gt 3 RequiemenisMetsshho Gili 19 Table 4 Requirements met by component selection LL 20 gt 0 Pielmminary Proposed Design ica airilic iaia se 21 SI Preliminary Felemetl ys y Stemi Deso ieas a 21 Figure 6 The preliminary proposed design for the t
10. Serial print TIME OF FLIGHT t Serial print ToFData Serial printIn t mm Serial print PRESSURE t Serial print pressureData Serial printIn t Pa Serial print ALTITUDE t Serial print altitudeData Serial printin t ft Serial print ALTITUDE DECIMAL t Serial print altDecData Serial printIn t ftx1042 Serial print ALTITUDE ZEROING t Serial print zed Serial printIn t ft Serial print TEMPERATURE t Serial print temperatureData Serial printin t F writeEEPROM returns an incrimented address value for the next writeEEPROM address writeEEPROM address timeMSB Write the first part of the time address writeEEPROM address timeLSB Write the second part of the time address writeEEPROM address airSpeedData Write the air speed to address address writeEEPROM address ToFData Time of Flight Data address writeEEPROM address altitudeData Write the change in altitude to address address writeEEPROM address altDecData Write the change in altitude decimal places to address address writeEEPROM address temperatureData Write the temperature to address transmitData stopType while timeDiff lt sampleTime Waits until one entire sampleTime has passed from the start of dataAcquisitionLoop timeDiff millis timeZero timeBeforeLoop This time difference is how much time has elapsed since this loop started timeDi
11. information set by the National Marine Electronics Association NMEA NMEA sentences are comma separated lines that a GPS unit outputs serially Each line begins with a data type which defines how the rest of the sentence is to be interpreted For example a sentence starting with GPGGA is the Fix Information sentence with a set number of commas These sentences can be understood because there is an order of information per data type In the GPGGA sentence the information between the first and second commas contains the Coordinated Universal Time UTC information from the satellites Between the first and second commas will always be the UTC time following the Fix Information data type sentence Since GPS is structured in a known way it is easy to determine what these sentences convey with online resources that help decode the sentence structure However this also means that a GPS unit outputs NMEA sentences serially and a parsing technique has to decode information in real time if only specific data points are needed such as groundspeed I2C GPS devices are not common due to the method that GPS units output their data The Navigation V2 which uses the GTPA010 GPS unit and pictured in Appendix E attempts to access this data using an I2C breakout 18 Union College 2015 Aero Design Team Telemetry Systems board This breakout board and I2C compatible device was chosen for the project so that the sensors could be used on the same 2C data
12. light up indicating the battery voltage current and power 17 Before activating the transmitter make sure throttle left stick is at zero all the way down 18 Power on the transmitter You should hear a series of beeps and the motor will stall a little bit a If you see a flashing orange light on the receiver then the transmitter is not bound Refer to Binding Procedure for more information 19 You are now able to run the motor with the transmitter and begin a testing procedure APPENDIX C APPENDIX D 44 APPENDIX E APPENDIX F APPENDIX G APPENDIX H APPENDIX I Union College 2015 Aero Design Team Telemetry Systems Laub APPENDIX J payloadDrop m attached below 45 Humanitarian Aid Package Drop Simulation Table of Contents EOLIE RA A User Denied CORI oa LEO CRI I II EVA IE RR e RR RA II CIAO arl a A ei RR ET Prot R CSUN S a5 iaia ALIA TAI BS IU aarti peared cts ay ass ee cee E oars ds ea sso a dini Joseph Laub 2015 Union College Aero Design Team Telemetry Systems Engineer 11 14 14 This script is intended for the Union College Aero Design Teams for the SAE Advanced Class Competition A simulated payload drop of a humanitarian aid package from a moving aircraft onto a circle target This script uses gravity and drag forces to simulate the drop from any altitude and velocity The User Defined Constants section can be used to change the simulate to the needs of the user The lead di
13. o Keeps track of the amount of variables varCount 0 while i 1 sl Enter variable tpye num2str varCounttl or enter 0 when done char 10 dataTypeInput input sl s if dataTypeInput 0 1 0 else varCount varCount 1 eval var num2str varCount dataTypelInput end end Cle disp Variable s type order declared char 10 Declare Byte Values to Data Types Here we declare the amount of bytes used per data type using a for loop 0 Keeps track of the amount of bytes used per cycle cycleLength 0 for i l varCount s2 Enter number of bytes associated with eval var numz2str 1 4 chart lt byteAmountInput input s2 eval dataLength num2str i byteAmountInput cycleLength cycleLength byteAmountiInput end Co disp Variable byte values declared char 10 Sort EEPROM Data and Separate Out Data Types This for loop sorts through the data from the file given and sorts the data based on the variables byte amounts entered by the user Reading and Formating EEP ROM Data from File with Custom Data Type Order Create data variables Later I will delete this first index for i lsvarCount eval data num2str i O 1 end Used for the index of the data variables k 1 for 1 1l cycleLength length dataRead cycleLength index i bor J Livarcount bytes eval data
14. of six components which includes three resistors Two LEDs a red LED and a yellow LED are connected to pins 3 and 4 on the Arduino Mini Pro These two LEDs are used to let the user know from a glance what the approximate status of the telemetry system is If the system has power then the red LED is on If the system is working as in acquiring data zeroing altitude reading or clearing data then the yellow LED is on The pushbutton was designed for starting and stopping the telemetry system instead having to connect it to a computer via USB The FTDI port allows the FTDI pins on the Arduino Mini Pro to be accessed via a mini USB This allows a computer to be connected and can act as a serial output for troubleshooting or control The FTDI port is used in the UI as the downloading port for the information saved onboard the aircraft The user can connect a mini USB to USB cord to the FTDI port and their computer Then they will be prompted with the option to read the information saved on the I2C chip they may also clear this information The GSDAS uses three components to interpret the information sent from the aircraft A data receiver the 434 MHz Receiver receives the information from the DAS and is connected to an Arduino Mega 2560 The microcontroller is then able to process the information and eliminate noise using the Virtual Wire library for Arduino microcontrollers Then the information can be outputted to the computer serially and read with a s
15. ra Arduino kira Arduina Mire ta ATmeged28 Arduino Mine w ATmega 168 Arduino Etf Arduino Fio Arduino BT vy ATmega 28 Arduina BT w ATmegal6B LibyPad Arduino USB LibyPad Arduino a ATmega328 LibyPad Arduino a ATmegal68 Arduina Pro ce Pro Mini SV 16 MHz vo ATmegalza Arduina Pro ce Pro Mini 5V 16 MHT ve ATtmega 68 Arduino Pro ce Pro Mini 23M MHI w ATmega3t Arduino Pro o Pro Mini 338 3 MHz wy Almegalbi Arduino HG or older wy ATmega 168 Arduino HG or older wy ATmegaii Anduino Robot Control Arduino Robot Motor Figure 14 Board selection 4 Upload the telemetryHornet sketch by pressing the upload button File Edit Sketch Tools Help Figure 15 Upload the sketch 5 Now open the Serial Monitor Serial Monitor Figure 17 Serial Monitor 6 Make sure the baud is set to 115200 No line ending 115200 baud v Figure 18 Setting the baud rate Joseph Laub Telemetry System V2 0 Hornet User Manual 6 7 You should now see an output screen that COM7 matches Figure 20 Telemetry System v2 0 Hornet System Setup Successfully Enter 1 for Data Acquisition Mode Enter 2 for Read EEPROM Mode Enter 3 for Clear EEPROM Mode Figure 19 Monitor output Enter a 1 to initiate the data acquisition system The system will take a moment zero the altitude and then it will begin displaying data Go to the troubleshooting section of the manual to confirm that the data is correct or if any
16. so that negative numbers were not recorded when the altitude data drifted by a few feet Temperature data is shown in the fourth plot but it is insignificant This information was interpreted by the MATLAB file EEPROMRead m seen in Appendix L EEPROMRead m was written to accept a comma separated file such as txt or csv It reads the column of data and parses the information based on a user input of the order and length of data The Hornet has not been tested in an aircraft because the second prototype aircraft P2 Murcielago has not been completed yet The system is ready to be tested once the aircraft s fuselage has been finished If the aircraft is able to fly data will be recorded on the telemetry system and will be analyzed using the same method that the fake flight was analyzed When test flights take place they will be recorded on two main cameras A high frames per second FPS camera will be used to monitor the takeoff and landing of the aircraft This will be placed facing normal to the runway so that the aircraft runs left to right on the screen By setting up a meter stick on the runway distance can be measured and then the time the aircraft takes to cross this distance will determine its speed This will be compared to the airspeed measurement at that moment to determine its accuracy To determine when that moment was a second camera will be used By filming the yellow LED with a handheld camera the timecode of the video file an
17. station data analysis system GSDAS Figure 1 outlines the four systems their subsystems and where they are implemented 12 Union College 2015 Aero Design Team Telemetry Systems First Ferson View System Data Acquisition System Camera Microcontroller a Memory Unit 3 E i C a Video Transmitter Data Transmitter User Interface Sensors Cc Video Receiver Data Receiver i T dai a u SER U Display Microcontroller Information Display 3 i First Person Display Ground Station Data Analysis System Svstem Figure 1 Systems and subsystems of the telemetry project 4 0 DESIGN ALTERNATIVES With the requirements set and prioritized in Table 3 the selection of components and methods began First research was done to determine different methods of acquiring data such as altitude and groundspeed Then a protocol for communicating with sensors was selected as well as memory unit solutions and microcontroller selection 4 1 RESEARCH 4 1 1 DATA ACQUISITION RESEARCH It was found that the most common method of measuring altitude was through the measurement of atmospheric pressure By measuring the pressure and the subsequent changes in that pressure the change in altitude can be determined using the Barometric Formula Equation 1 Where m is the mass of one molecule k is the Boltzmann s constant g is gravity h is height T is temperature Py pressure at ground level and P is pressure measured above ground l
18. system PRIO Minimize size of telemetry system PRII Single low power source Advanced Class only PR13 Monitor airspeed PR16 Transmit altitude data p PR17 Project cost less than 500 p bn PR18 Recording takeoff landing time p PR19 UI panel Laub 37 PR3 states that altitude must be precise within one foot however the altitude retuned by MPL3115A2 sometimes has a drift characteristic that may violate this requirement In some tests the altitude measured by the sensor is precise to a foot and other times it is off by three or four feet For example when climbing a 31 foot staircase the altimeter was able to provide accurate information most of the time as seen in Figure 19 Yorktown Stainvall Test 2 Altitude Read 400 201 I Aide Read _ P e lu la rif T AAGE nas i fae tt te bp I See eee oe ee dii ia Re rr rr 100 Altitude i D 10 20 30 40 50 Address Yorkiown Stanwell Test 2 Alitude Read Filterad 60 To a0 ag Altitude Read Filtered Albtude ft Address Figure 19 Stairwell test 2 Filtered altitude data means that the first data point was a spike which disrupted the zeroing process for this test These tests were conducted using The Yorktown system in December of 2014 The Hornet has been designed to compensate for these preliminary spikes by throwing out outliers during the zeroing process In MATLAB the information was sh
19. system due to its decreased size and weight Having fewer pins was not an issue due to the two wire I2C method 4 2 2 SENSOR AND MEMORY UNIT SELECTION With the Arduino Mega 2560 or Arduino Mini Pro selected depending on either the preliminary or final design sensor components and a memory unit were selected The EagleTree Airspeed MicroSensor V3 pictured in Appendix C was selected primarily because the Aero Team already owned this device from last year s team This sensor was built for a premade telemetry system package however it has a standalone I2C mode which was used for this project Research into other airspeed sensors was considered but not seriously perused Altimeter selection was based on the research in section 4 1 1 of this report and it was decided to use the pressure to altitude technique This was because it was more accurate than GPS and the ultrasonic range was inadequate The MPL3115A2 and BMP180 were the primary considerations for this project Both sensors are designed for I2C protocol and both claim to be within the one foot precision range which complies with PR3 in Table 3 The difference between the two was in there documentation The MPL3115A2 had great detail in its documentation and provided an example sketch for the Arduino microcontrollers This sample sketch would make understanding the sensor easier and this was why the MPL3115A2 was chosen pictured in Appendix D GPS is unique in that there is a standard for receiving
20. this should allow Union College to use this system for competitions and testing for any aircraft that is built 2 5 HEALTH AND SAFETY There are several safety issues associated with this project There is a 6 cell battery operating close to 1000 Watts and a motor that is being rotating at approximately 6000 rpm When using the 6 cell battery it will draw close to 40 A or more of current to reach 1000 Watts of power at 22 V This amount of current and power could be fatal if Dong Lonnie R 2015 Aero Design East and West Rep SAE International 30 Aug 2014 Web 21 Nov 2014 lt http students sae org cds aerodesign rules 2015_aero_rules pdf gt 8 Union College 2015 Aero Design Team Telemetry Systems not handled properly If the two battery leads short out the battery it could be destroyed and could ignite If a propeller became detached it could critically injure somebody Because of these dangers several precautions were taken when testing to motor Appendix A shows the procedure for charging the battery so that it does not damage cells and risk exploding Doing this safely is critical for running tests on the motor If the battery is charged incorrectly it could be damaged and even ignite When the motor is being tested with the propeller it is important for people to be out of the way and in a safe location Appendix B lays out how to set up the test bed for testing the motor safely If the propeller were to become detached from the moto
21. ECE 499 REPORT Telemetry Systems for the Union College Aero Design Team Joseph Laub EE Joshua Fields ME Robert Lattanzi ME Ervin Meneses EE Matthew Wenner ME John Spinelli Ph D Advisor 3 18 2015 Laub 1 SUMMARY The 2015 Union College Aero Team aims to compete in the SAE Aero Design Regular Class competition this year and it is the goal of this project to provide this team with a telemetry system that will help improve prototypes and designs while also supplying next year s team with a system to compete in the Advanced Class competition This telemetry system will measure and record information such as altitude airspeed and ground speed while also relaying some of this information along with a video feed from the aircraft to a ground station The information gained from a telemetry system on a prototype flight will help the engineers designing the aircraft understand their design better and will help them and future teams improve their designs and models The telemetry system has undergone two prototypes that have used the design requirements as the basis of their design These systems are named The Yorktown the first prototype and The Hornet the second The Hornet is the current and improved system that fulfills more requirements and uses the lessons learned from the first prototype This system measures and collects altitude airspeed temperature and takeoff landing times while the addition of a GPS device will add location g
22. End else flagEnd 0 digitalWrite infoLEDPin LOW transmitData Joseph Laub 2 10 15 Function that transmit a given data type and data void transmitData int data char dataMsg 4 data abs data vw_set_ptt_inverted true Required for RF Link Module vw_setup 1200 Bits per second vw_set_tx_pin 1 pin 1 used a as the transmit data out into the TX link module delay 200 itoa data dataMsg 10 vw_send uint8_t dataMsg strlen dataMsg vw_wait_tx Serial printIn SENT 59 60 Union College 2015 Aero Design Team Telemetry Systems writeEEPROM Joseph Laub 12 3 14 Writes to a given address a given value int writeEEPROM unsigned int addr byte val int writeData val Wire beginTransmission 0x50 Wire write int addr gt gt 8 MSB Wire write int addr amp OxFF LSB Wire write writeData Wire endTransmission delay 10 addr return addr APPENDIX L EEPROMRead m attached on next page Reading and Formating EEPROM Data from File with Custom Data Type Order Table of Contents Reset he OE RR EA TT l Lpada BPEPRONM Daa Blei l Declare Varnable Type Order PRE ANI III 2 Declare Byte Values to Data Types rain 2 Sort EEPROM Data and Separate Out Data Types 2 Bse 3 Rocorect Data 100 ARR RT RR PR EA 4 Pater Us Tor Diari 4 PTO TD AUG ssa E T E E 4 Joseph Laub 2015 Union College Aero Desi
23. However due to its short range it will return 25 5cm when the aircraft is airborne This is because nothing is within its range and so it returns the maximum value it can measure This information will be useful for determining if the aircraft is on the runway or not and it requires one byte of EEPROM space per data point The GTPA010 GPS is the last sensor to be used during each loop It returns latitude longitude UTC time and groundspeed Latitude and longitude will be interesting to examine after a flight and could be used to plot the path the airplane took during flight Both latitude and longitude require four bytes each of EEPROM space UTC time is the time from the satellites and this information will be used to help determine when the flight took place Due to the precision of the UTC time this requires four bytes of space on the EEPROM chip per data point Groundspeed is an important measurement for calculating the lead time to a target with altitude This is the last measurement and is recorded in meters per second Groundspeed requires two bytes of EEPROM space per data point After acquiring all of the data for the current dataset some of the information needs to be scaled because of the way in which some sensors return values Altitude information calculated from pressure is divided by 100 to scale it down to feet Some of the other information is scaled up by devices however it is kept this way and post flight analysis compensates for th
24. IER SAIPRO TENENS nen ie neni Lote e Projectile Path 40 Target Area 30 Pea SEE 3 sonia eee SIRENA PEEN 3 MEIE 3 phe aus TELECTEET CPP e TCP Lece Tree rerreT eee re reer eee eee eee eee ee eee eee ee eee ee ee eee ee ee ee i ho on Direction meters Z Direction meters i a nd N Y Direction meters 20 0 X Direction meters 0 5 10 15 20 25 30 35 40 X Direction meters Figure 7 The left plot show the payload in 3D space The right plot shows this from a side view Appendix J shows the full MATLAB script for calculating these paths The script uses the altitude and the velocities of the aircraft which will be found by the sensors in the DAS From these simulations it was determined that drag forces are not influential to the accuracy of the payload drop and can be ignored to simplify the calculation Figure 8 shows the difference of two identical drops one with drag forces and one without Laub 23 No Drag Forces vs Drag Forces N No Forces Drag Forces ha io io MN gt N N Direction meters hi DI 0 5 10 15 20 25 30 35 40 Direction meters Figure 8 A payload path with and without drag forces at 30 mph at 100 feet Here 30 mph was chosen for a faster aircraft because drag forces are dependent partially on velocity so the larger the velocity the larger the drag Figure 8 shows that the difference the drag force makes is only about 2 meter
25. Length num2str j 1 for b l bytes d data numz str J i di eval length data num2str 3 is JJ dl dl 1 in dataRead index evalil data numZsctr gt 4 mumz2str dl 177 reas numastr in index index 1 end 7 gt r end k k 1 end Delete the first index because it was created earlier just to create the o o variable for i Livarcount evalil dtata numZzZstrii I h t LIs 15 end Binary Shifting For the variables that are saved using multiple bytes bitshift functions are need to shift and or the bytes so that the actual value may be obtained for J LivarCount c holds the amount of bytes in the selected variable 3 J is the number of the variable It cycles through the variables eval c dataLength num2str j if the amount of bytes in the selected variable is more than 1 then we are going to have to shift over the most significant bytes and or them with the least significant bytes E c gt 1 i holds the index of the tempData tempData is used to hold the variable data until it is all shifted and or ed together Then the variable becomes tempData 1 H AP AP o H 00 AP o o This for loop cycles through the entire data vector Where k is Reading and Formating EEP ROM Data from File with Custom Data Type Order o o for k l c index 1 cycleLength c D lt w
26. NPUT if sensor VL6180xInit OH Serial printIn FAILED TO INITALIZE Initialize device and check for errors sensor VL6180xDefautSettings Load default settings to get started vw_set_ptt_inverted true Required for RF Link Module SI a2 Union College 2015 Aero Design Team Telemetry Systems vw_setup 1200 Bits per second vw_set_tx_pin 1 pin 1 used a as the transmit data out into the TX link module myPressure begin Get sensor online myPressure setModeBarometer Measure pressure in Pascals from 20 to 110 kPa myPressure setOversampleRate 7 Set Oversample to the recommended 128 myPressure enableEventFlags Enable all three pressure and temp event flags delay 1000 Serial printIn System Setup Successfully digitalWrite onLEDPin HIGH Serial printIn Enter 1 for Data Acquisition Mode Serial printIn Enter 2 for Read EEPROM Mode Serial printIn Enter 3 for Clear EEPROM Mode int buttonState 0 variable for reading the pushbutton status int byteRead 0 boolean waiting true void loop waiting true delay 1000 while waiting true buttonState digitalRead buttonPin if Serial available byteRead Serial read if buttonState HIGH Serial printin DATA ACQUSITION MODE SELECTED dataAcquisitionLoop waiting false delay 2000 if byteRead 49 Serial printin DATA ACQUSITION MODE SELECTED dat
27. a from File with Custom Data Type Order s4 Choose a method to plot data char 10 Enter 0 for no plocs char 10 Enter 1 for subplot method char 10 4 Enter 2 for individual variable plots char 10 method input s4 ole Switch method case 0 disp No plots crested Subplot method case 1 s5 Are one of these variables the x axis char 10 Enter the corresponding variable number or 0 Tor no X axis char 10 char 10 J s5Temp Creates a string list of the variables for the user to see for sTemp l varCount s5Temp s5Temp Variable num2str sTemp 0 eval var num2str sTemp char 10 end sd s5 sb5Temp xAx1sInpuc anput s5 This switch case statement will decide how to plot the individual plots o o Switch xAxisInput 0 No x axis selected Plot all variables singularly case 0 disp No x axis selected for p L ivarCount s bplot varcount l P plotieval data num2str P beeo title eval var num2str p Plot from file dataFile Xxlabel Index vlabel eval var num2str p eval dace num2strip Units 3 end 0 x Axis selected Plot all variables with the x axis case num2cell l varCount xAxisTitle eval are numZstr xAkisInpuc 1 disp xAxisTitle selected as x axis xAXIS eValil data numZstr xAx
28. aAcquisitionLoop waiting false delay 2000 if byteRead 50 Serial printin READ EEPROM MODE SELECTED readEEPROM Serial printin EEPROM READ byteRead 0 waiting false Laub delay 2000 if byteRead 51 Serial println CLEAR EEPROM MODE SELECTED clearEEPROM Serial printIn EEPROM CLEARED byteRead 0 waiting false delay 2000 Serial printin STAND BY MODE while waiting false digitalWrite infoLEDPin HIGH delay 500 digitalWrite infoLEDPin LOW delay 500 altitudeZero Joseph Laub Altitude Zeroing 2 19 15 intg 1 int zeroing 0 int avgAmount 2 float tempAlt 0 int tempAltitude 200 float altitudeZero digitalWrite infoLEDPin HIGH delay 250 digitalWrite infoLEDPin LOW Serial printlIn ZEROING ALTITUDE Ignore the first 50 samples for g 0 g lt 100 g tempAlt pressureToAltitude findPressure 100 delay 100 Serial printlIn tempaAlt return tempAlt 10 54 Union College 2015 Aero Design Team clearEEPROM Joseph Laub 2 16 15 Clears the EEPROM addresses within the I2C Chip Address for the 12C Chip is 0x50 unsigned int clearAddr int clearData void clearEEPROM clearData 255 digitalWrite infoLEDPin HIGH write 255 to all 32768 bytes of the EEPROM Chip for clearAddr 0 clearAddr lt 32768 clearAddr Wire beginTransmission 0x50
29. actors for selecting the Arduino Mega 2560 originally However as sensors were added to the project and more was learned about storing information and the length of flights it was determined that more than 4096 bytes of space would be needed For example if 20 bytes of information need to be recorded the estimated amount based on all of the sensor outputs at a sample time of 0 5 seconds then at 4096 bytes only about 1 7 minutes of information may be stored Flights at competition were found to average about 2 5 minutes based on videos found from last year s competition Using the onboard EEPROM space on the Arduino Mega 2560 does not meet PR8 therefore other solutions were explored The I2C EEPROM 256 kbit Appendix G component fulfills PR8 by containing 32 768 bytes of space which equates to approximately 13 7 minutes of flight information based on the parameters given in the example earlier This component was also selected for it I2C compatibility allowing it to be easily integrated into the system on the I2C buses PRI and PR16 require that altitude be monitored at the ground station To accomplish this a transmitter and receiver pair was chosen The 434 MHz RF Link Transmitter and the 315 MHz RF Link Transmitter are both able to transmit data wirelessly to a matching receiver at the ground station Using a form of Amplitude Shift Keying ASK Laub 19 the transmitters transmit bits over their given frequencies The 315 MHz transmitter s 5
30. airspeed CAS uses the pitot static tube as well however it attempts to correct for errors in the measured static pressure A pitot static tube must face directly forward on an aircraft such that the air flowing over the tube is perpendicular to the holes for static pressure If the tube has been mounted incorrectly or the aircraft yaws 14 Union College 2015 Aero Design Team Telemetry Systems suddenly the static pressure measurement may be inaccurate This is more difficult to calculate than IAS however it is more accurate Groundspeed differs from airspeed in that airspeed is the aircraft s speed relative to the air around it and groundspeed is the speed relative to the earth below it Groundspeed is important for calculating the projectile motion of a payload drop from an aircraft Methods researched for calculating groundspeed were found using landmarks airspeed and wind speed and GPS If the distance between two landmarks is known then the time it takes to get from one to another can be used to calculate groundspeed This can be accurate if the distance known is accurate and if the time it takes to pass over each landmark is timed accurately However this is impractical in that the aircraft would have to fly directly over two known landmarks and the groundspeed would only be known for a moment Image processing would make this possible but difficult time consuming and expensive Groundspeed can also be found by using airspeed and wind spe
31. ance feet disp Lead Time num2str leadTime seconds disp char 10 Done with payloadDrop m Lead Distance 106 1988 feet Lead Time 2 53 seconds Done with payloadDrop m Published with MATLAB R2014a Laub APPENDIX K Telemetry Hornet sketches below telemetryHornet Joseph Laub 2 21 15 Telemetry System Prototype 2 Code name Hornet Prototype system to be used on the Aircraft Murcielago 2 a ee am Arduino Library Setup include lt Wire h gt For the i2c bus include Arduino h For communicating with the EagleTree Air Soeed Sensor V3 include MPL3115A2 h For communicating with the MPL3115A2 include lt EEPROM h gt Load the EEPROM library include lt VirtualWire h gt Load Virtual Wire Library so that RF ground link can be established include lt SFE_VL6180X h gt Load the VL6180 Library for Time of Flight sensor include lt Average h gt MPL3115A2 myPressure Create an instance of the object for altitude sensor const int onLEDPin 4 Red LED const int infoLEDPin 3 Yellow LED const int buttonPin 2 Button on the User Interface Board define VL6180X_ADDRESS 0x29 VL6180xlIdentification identification VL6180x sensor VL6180X_ADDRESS void setup Serial begin 115200 Serial printIn Telemetry System v2 0 Hornet Wire begin Join i2c bus pinMode onLEDPin OUTPUT pinMode infoLEDPin OUTPUT pinMode buttonPin I
32. aub 9 flight attempt Making sure that these requirements are met and that none of the rules are violated is a top priory for this project These requirements are considered the mandatory project requirements 3 2 TEAM REQUIREMENTS Making a telemetry system for next year s competition is not the only goal of this project The other goal of this project is to provide a system for the current Union College Aero Design Team so that the engineers designing the prototypes can learn more about their aircraft in flight The mechanical engineers were able to provide several ideas concerning what would be useful to them during the design process Table 2 shows a list of features desired by the team and why these are important Table 2 Requirements generated by the 2015 Union College Aero Design Team Monitor airspeed Airspeed will help the team analyze the performance of the aircraft in flight This can also be used to estimate the maximum takeoff weight of the aircraft which will help find the maximum payload weight Monitor groundspeed Groundspeed and altitude are used to calculate the path the payload would take when released from the aircraft This allows the team to calculate how far ahead of the target the payload needs to be dropped in order to score Ample non volatile onboard Having enough memory onboard the aircraft for an entire flight would allow the memory analysis of stored data post flight Non volatile memory would ensure saved data e
33. b Telemetry System V2 0 Hornet User Manual l Contents IIS E E E E E E E E E E T N E E E E E E N 2 pe E o E iii 9 EIN I FR cnctes soters4eseratevedesacastatewessccnetevscnsoea A N 2 Figure 2 FDTI Jumper connected to the Arduino Mint Pro 2 Figure 3 FTDI connection to Ardumo Mini Pio 2 Fior 4 Mim USB 19 FIDL oerrinne arera EN OEE NONIE iaia 3 Figure 5 Arduino Mini Pro and User Interface board iii 3 Figure 6 3 Wire Jumper to Arduino Mini Pro eseessseeseseeeeeeeeeeeeessssssssssssssssssesssssssessssssssssssssssssssssssssso 3 Figure 7 3 Wire Jumper to User Interface siciccccscscccscsseseansasosssnsonsararenecacateansossagsesasiangsacutesauantdetecennaeoncsees 3 Figure 8 Power jumper to User Interface board rei 4 Poe SLEG TU a E E E E 4 Figure 10 Sensors connected to 12C Bus HUD sciccccccsstcwsscussedssoienenccibtesesucaempestvaassisdesaxbeectesestetuneudsneutens 4 Figure 11 Battery Jumper connected to Arduino Mini Pro 4 Figure ES y Aer OME CLC a N i ai tiri 4 Figure SALO CO CR RR RA 5 Figure e Ea TR EE i E EE A EA AA A oa 5 Poore D lO a WING Se aA A E EEE 5 Po So Lt aR R E onsen nent E E T E E ES 5 Picur Io Seting the baud TAs asset e E es eee aes doce ne A eee eaten ations 5 IERI O a E 6 AMICI Opi e E E E 6 Fig re 20 Pitotstatic bet the WAS 6 Joseph Laub Telemetry System V2 0 Hornet User Manual 2 Parts List A log of phot
34. bus Adding a serial communication device would complicate the design and use more pins on the microcontroller The VL6180 Time of Flight sensor pictured in Appendix F was donated to this project by Jim Hedrick This sensor used IR and the time delay of the reflection to measure the distance to the reflecting surface Measuring altitude with this sensor is not possible since its range is 25 cm however mounting this sensor on the bottom of the fuselage of the aircraft would allow the system to determine takeoff and landing time When the sensor reads a value of about three inches the distance from the runway to the fuselage when grounded then the aircraft is on the runway If the sensor reads a 25 cm the maximum the aircraft is in the air This information can be used along with the other information onboard to the aircraft to mark the times in which the aircraft took off and landed To analyze this information on the aircraft post flight the information needs to be stored onboard the aircraft Transmitting all of the data to a ground station includes the possibility of losing information or receiving incorrect data Therefore storing information in a non volatile memory unit is required as seen in PR8 The microcontrollers in Figure 4 have built in Electrically Erasable Programmable Read Only Memory EEPROM that is non volatile The Arduino Mega 2560 has 4096 bytes and the Arduino Mini Pro has 512 bytes of storage This was one of the contributing f
35. closest outlet Use the STOP BATTERY TYPE key to select the PROGRAM SELECT LiPo BATT category Press ENTER START to advance to the LiPo CHARGE screen Use the STATUS key to scroll to the LiPo BALANCE screen and press ENTER START a The amp rate value will flash on and off 7 Use the STATUS key to scroll the amp rate up or down to the desired rate a To find desired rate take the capacity of the battery divided by 1000 1 mAh 1000 amp rate 8 Press the ENTER START key again a Battery voltage will flash 9 Use the STATUS key to adjust the voltage up or down to match the voltage and cell count indicated on the battery 10 Press and hold the ENTER START key a Charge will chime and display BATTERY CHECK WAIT 11 Next the display will show R SER S SER to indicate the number of cells the charger detected R and the number you selected S a If these values do not match press STOP b DO NOT start charging if values do not match 12 If these values match press ENTER START 13 As the pack charges the display will show the battery type cell count charge rate pack voltage charge time and amount of milliamps the pack is receiving 14 When completed it will display FULL a Laub 43 15 To stop charging press STOP APPENDIX B Se oe IE Find a large open and empty room for testing Move the test bed to a safe locat
36. competed in the SAE Aero Design competition since 2004 In the past two years the team has placed in the top 10 out of more than 40 schools from countries all over the world Last year the SAE Aero Design rules began mandating an electric motor with a 1000 Watt limit rather than a combustion motor which changed the strategies of the teams This year is the first time that electrical engineering majors have been a part of the Union College Aero Team Having two electrical engineers to work with the electric propulsion system and the telemetry system for the advance class competition will help diversify the team s skills and design a better aircraft The 1000 Watt limit and the lack of actual data from the aircraft in flight were not addressed last year In order to stay under the 1000 Watts limit the team chose a system that operated at a much lower power so that any noise in the system would never peak above 1000 Watts Accurate speed and altitude data were never collected during flight which left this year s team only with performance estimates of last year s aircraft This lack of information makes it more difficult to learn from last year s mistakes and accomplishments because it is impossible to quantify their flight performance Since there was no telemetry system implemented last year this project does not have pervious Union College telemetry systems to learn from 2 2 ECONOMIC Building the aircraft will be expensive and last year s team
37. corded on the MPL3115A2 This can later be converted to a change in altitude float findPressure float p myPressure readPressure return p 1000 findTemperature Joseph Laub 12 3 14 Finds the temperature recorded on the MPL3115A2 float findTemperature float t myPressure readTempF return t pressureToAltitude int pressureToAltitude float pre p 101325 1 2 25577e 5 h 45 25588 p 2 x c h Av solve for h h x p z 4 1 d v const float z 101325 const float x 1 const float c 0 0000225577 const float v 5 25588 float h 0 Altitude to be calculated pre pre 1000 float part1 pow pre z 1 v h x part1 c h h 3 28084 return h 100 readEEPROM Joseph Laub 2 16 15 Reads the EEPROM addresses within the 12C Chip Address for the 12C Chip is 0x50 Laub void readEEPROM long j 0 int flagEnd 0 flagEnd will determine if there is no more data Ten 255 s in a row means it is the end digitalWrite infoLEDPin HIGH while j lt 32768 amp amp flagEnd lt 10 byte rdata OxFF Wire beginTransmission 0x50 Wire write int j gt gt 8 MSB Wire write int j amp OxFF LSB Wire endTransmission Wire requestFrom 0x50 1 if Wire available rdata Wire read Serial print Address t Serial print j Serial print tData t Serial printIn rdata j if rdata 255 flag
38. d the time of the data acquisition can be synced This way when reviewing the footage viewers can look at the plot of data and match any time on the plot to the synced footage from the camera This combines the video and the data for a visual and empirical analysis post flight 7 2 REQUIREMENTS COMPLETED The competition that this year s team is competing in is April the 24 through the 26 Work on the telemetry system will continue and the final design of the system The Enterprise will become the final system based off of The Hornet The Enterprise system will incorporate the GPS and will be packaged in a custom 3D printed package This will allow the team to easily install or uninstall the telemetry package on or off the aircraft To date Table 6 shows which requirements that have been completed Union College 2015 Aero Design Team Telemetry Systems Table 6 Requirements based on Table 3 Green represents completed Red represented incomplete Blue represents unknown Requirement Priority PRI Altitude must be monitored in real time at a ground station Altitude must be measured with the precision of 4 PR4 The DAS must have a visible read out at the ground station PRS The DAS must include an arming reset switch The DAS cannot use the flight control frequency 2 4 GHz PR7 Must include a FPV system onboard the aircraft with a ground station display PR8 Ample onboard non volatile memory Minimize weight of telemetry
39. ed By summing the airspeed and wind speed in the direction of the aircraft groundspeed can be calculated with ease However measuring the wind speed at the ground is not necessarily the wind speed at the aircraft and this method proves to be easy theoretically but difficult practically GPS calculates groundspeed by measuring the distance between two locations and time at those two locations This calculates groundspeed easily and is much more accurate than finding altitude with GPS since it is easier to detect lateral and longitudinal movement rather than movement normal to the earth 4 1 2 COMMUNICATION PROTOCOL RESEARCH The research done for the information to be measured in the above section meant that sensor instrumentation would be a large part of the project Communication with these sensors to read and save their data is a central aspect of the project This is the DAS and it was decided that this would be done through the use of a microcontroller because of past experience and knowledge of C Two methods were researched and considered for this project the first being serial peripheral interface SPI and the second being inter integrated circuit I2C SPI is a protocol commonly used in embedded systems similar to this project SPI uses four wires not including power and ground to communicate with sensors These serial wires carry the serial clock SCLK the master out slave in MOSI master in slave out MISO and the slave select SS W
40. eir own individual addresses To read or write data from a sensor the master sends out the specified address and gets an acknowledge back from the sensor Then the master knows to wait and receive data from the sensor or to write information depending on the slave and command This allows for quick communication since each slave has its own predetermined address in the datasheet and since this protocol is used regularly there is ample documentation for troubleshooting and design as well as many devices made to be I2C compatible 4 2 JUSTIFICATION OF COMPONENTS 4 2 1 COMMUNICATION PROTOCOL AND MICROCONTROLLER SELECTION Before selecting components and parts for the DAS it was decided to use the I2C protocol instead of the SPI protocol This was because I2C s two wire protocol would require fewer pins than the SPI method The SPI method was found to be more complex with many variations that would not integrate easily with each other Since 16 Union College 2015 Aero Design Team Telemetry Systems I2C only uses two data wires for a total of four wires with power and ground sensors can be daisy chained together and operate without using a complicated SS method Fewer wires comply with PR9 and PR10 from Table 3 and simplify the overall design of sensor instrumentation Three microcontrollers were considered for this project Digilent s chipKIT Max32 Prototyping Platform the Arduino Mega 2560 and the Arduino Mini Pro Figure 4 From left to ri
41. elemetry system 21 Figure 7 The left plot show the payload in 3D space The right plot shows this from a side view 22 Figure 8 A payload path with and without drag forces at 30 mph at 100 feet ccccccccceeeeeeeeeeeeeeees 23 Laub 3 Figure 9 A payload path with and without drag forces at 10 mph at 100 feet 0 0 eeeseessseeeeeeeeeeeeeeeeaes 23 52 Preliminary Westen CONCIUISIONS ax seic esos veuorstaorans 0h sanwanec E ige amen aon 24 Figure 10 PI Murcielago under construction left Top view of the fuselage with The Yorktown right 24 6 0 Finial Desrenand Jmplementaliotisy asgl ai 25 6 1 Final Desin Punic onal Decompositions a a E O 25 Table 5 Breakdown of components for systems and subsystems 25 Picure Vie The Hornet DlOCK Aorangi E E a E aa 26 62 Hardware SCP eeue E E N TEE E T T E A EE 28 Figure 12 DAS hardware diagram Unused pins not shown 28 Fieure 13 Ponson he Outside OF Ihe meskit arine E eden ieee aoe 29 Figure 14 FPV system diagram left and FPD system diagram right The TV monitor s power source is not shown in this diagram and would depend on the monitor available 30 Picure MS GSD AS Gla Sai area doll linate aderenti 30 0 35 S0 Wallonie ie ire Ai iii ie Alia 31 Figure 16 Flowchart for DAS software See Appendix K for C sketches i 31 Figure 17 Example of
42. erface with the airspeed sensor and was eventually replaced by the Arduino Mega 2560 Had the Arduino Mega 2560 been selected earlier a couple weeks could have been saved The GPS selected for this project was intended to work with the I2C bus however it was unable to communicate using this protocol Troubleshooting took many weeks and it was determined that the 40 Union College 2015 Aero Design Team Telemetry Systems documentation available for the I2C GPS was inadequate Had the selection of the GPS been more careful then this could have been avoided however the GPS currently works with a serial communication method 9 0 COST ANALYSIS The total cost of the components and materials for this project was 379 18 as seen below in Table 8 Table 8 Project costs and totals without shipping Navigatron v2 59 89 1 59 89 This satisfies PR17 s goal of 500 however this does not take into account shipping costs for the various components Travel costs to competition are not included in this table because these are being covered through a Student Conference Travel Grant and donation money to the Union College Aero Design Team Laub 41 10 0 USER MANUAL The user manual for this project can be seen in Appendix M This manual is intended for next year s team and was written so that anyone may take the telemetry system and install it on an aircraft The user manual is subject to change based on future work of The Enterprise system
43. erial communication software such as the Arduino Integrated Development Environment IDE software or puTTY 28 Union College 2015 Aero Design Team Telemetry Systems 6 2 HARDWARE SETUP The hardware design for this was broken down into the four systems with the DAS being the most complex The FPV FPD and GSDAS systems did not require as much design because of their relative simplicity Figure 11 below shows the hardware design for the DAS Arduino Mini Pro MPL3115A2 GTPA010 VL6180 Airspeed 256 kibt Micro EEPROM Sensor V3 Transmitter FTDI Board Figure 12 DAS hardware diagram Unused pins not shown The I2C bus seen in Figure 12 is critical to the DAS This is where all of the sensors and the memory unit get their commands and information The microcontroller cannot receive or send information without the SCL and SDA lines and the power and ground lines are used by multiple subsystems Pins 2 3 and 4 are used for the UI and to simplify the design the pins uses the GND and 3 3V bus lines to reduce pin usage and wire length The transmitter also uses the 3 3V and GND lines from the bus however alternative designs have had the VCC input of the transmitter connect to the positive terminal on the battery for a more powerful signal The FTDI port connects to the Arduino Mini Pro with a six wire jumper cable and having a USB port that is independent of the microcontroller has been beneficial to the design of the system T
44. evel Ph Pje mane 1 Laub 13 This method is susceptible to error as the local pressure changes throughout the day Over a long period of time the altitude measurements become less reliable Altitude can also be measured using a Global Positioning System GPS receiver This is can be done if four or more satellites are being received however GPS is inaccurate due to the slight variations in altitude and large distances to satellites Even under ideal conditions this can be accurate to about 50 feet which does not agree with PR3 in Table 3 Altitude may also be measured using ultrasonic or sonic methods and the amount of time the reflection takes to return to the sensor At a consumer level this is only capable of short ranges such as 25 cm the longer range sonic altimeters are expensive and not within the scope of this project The consumer level method of recording altitude with ultrasonic is not sufficient because the range is extremely small Measuring airspeed can be done through the use of pressure with a pitot static tube Pictured in Figure 2 this tube uses the difference of total and static pressure to calculate velocity Equation 2 Figure 2 A pitot static tube where P is total pressure and P is static pressure vV 2 Py Ps 2 p Equation 2 solves for airspeed v by dynamic pressure P P and dividing by the air density p This is a common technique and is known as the indicated airspeed IAS Calibrated
45. ff 0 Resets timeDiff for next loop if address gt maxAddress f the address is at its limit address 0 Reset address to 0 so that data can loop buttonState digitalRead buttonPin if buttonState HIGH Serial printin DATA ACQUISITION LOOP TERMINATED Laub 57 dataLoop false delay 1000 digitalWrite infoLEDPin LOW Turn on infoLED to indicate that data is being acquired return findAirSpeed Joseph Laub 12 3 14 Finds and returns the air speed using the EagleTree Air Speed Sensor V3 int addressAirSpeed 0x75 Data sheet claims OxEA however use the high 7 version 0x75 int w 0x07 Not sure why 0x07 however think this puts the sensor in read mode float r O Used to store the air speed float findAirSpeed r 0 resetrto 0 Wire beginTransmission addressAirSpeed Wire write w Wire endTransmission Wire requestFrom addressAirSpeed 2 request 2 bytes from device Wire available check and see how many bytes are available should be 2 r Wire read Wire endTransmission return r findAltitude Joseph Laub 12 7 14 Finds the pressure recorded on the MPL3115A2 This can later be converted to a change in altitude float findAltitude float f myPressure readAltitudeFt return f findPressure Joseph Laub 58 Union College 2015 Aero Design Team Telemetry Systems 12 3 14 Finds the pressure re
46. ge from a 6 cell battery that is stepped down with a voltage divider or regulator This system has been tested in the lab using a HD TV with RCA connectors it has not been mounted to the aircraft for test flights due to risk of damages Laub 24 The DAS is made up of four subsystems two of which overlap The memory unit subsystem and the sensors subsystem overlap because the memory unit which is an I2C EEPROM chip is I2C compatible like the sensors This means that the memory unit and sensors operate on the same I2C bus which reduces the amount of pins required by the board and the amount of wires needed for the hardware The sensors are connected using the I2C bus and a 3 3 V power line and ground line can power each component All of the sensors chosen for this subsystem were chosen for the 3 3 V output of the Arduino Mini Pro The sensors have a wide range of voltage requirements however 3 3 V works for each of the components The data transmitter subsystem is made up of just the 434 MHz Transmitter which can also be powered by the 3 3 V output of the Arduino Mini Pro or by the power source of the Arduino Pro which is a 3 cell 11 1 battery or a 9 V battery for testing in the lab In order to maximize the signal strength of this component the supply voltage should be as large as possible By using the 11 1 V battery instead of the 3 3 V output the signal should be more powerful and therefore have a larger range The UI subsystem was built out
47. ght Digilent s chipKIT Max32 Prototyping Platform the Arduino Mega 2560 and the Arduino Mini Pro The Digilent s chipKIT Max32 Prototyping Platform was already in the possession of the Union College Aero Design Team and was therefore in compliance with PR17 for minimizing the cost of the project However this microcontroller was poorly documented when compared with the Arduino microcontrollers The Arduino Mega 2560 is similar to the Digilent s chipKIT Max32 Prototyping Platform in its size and weight but it is better documented and has many examples online The Arduino Mini Pro is much smaller than the other two microcontrollers however it is more difficult to prototype with since the pins do not come equipped with headers already in place At the beginning of this project the chipKIT Max32 Prototyping Platform was tested first with an airspeed sensor from last year s Aero Team This airspeed sensor the EagleTree Airspeed MicroSensor V3 is I2C compatible but proved very difficult to interface with the chipKIT Max32 Prototyping Platform The decision was made to switch to the Arduino Mega 2560 due to its increased documentation and I2C examples online as well as its many pins and headers for easy prototyping This microcontroller was able to communicate successfully with the 2C airspeed sensor was adopted for the preliminary telemetry system design The Arduino Mini Pro replaced the Laub 17 Arduino Mega 2560 for the final design of the
48. gn Team Telemetry Systems Engineering iJ a Gil This script loads a data file from a flight or test and plots the data The user must input the order that the information is in in the data column of the test file Make sure that there are no extra spaces of headers in the text file and that it is only two columns of data Addresses on the left and data on the right Follow the instructions in the command window and results should be plotted A basic understanding of the telemetry system and EEPROM is needed to understand this script accuractly Reference lt http muse union edu seniorpro ject laub gt for more information Reset the workspace close all clear Cle Load in EEPROM Data File Load in data using the dlmread function Store two columned matrix in N The first column are addresses and the second column contains the data dataFile Filename goes here including the extension Make sure there are no extra spaces or headers in file N dlmread dataFile t disp dataFile file read char 10 Separate the addresses and data into individual columns addresses N 1 dataRead N 2 Reading and Formating EEP ROM Data from File with Custom Data Type Order Declare Variable Type Order Using a for loop enter the data types in the order that EEPROM stores the different types For now ignore the fact that some data contains more bytes than others 1 keeps the while loop going H
49. he FTDI board has the USB port needed to interface with the microcontroller and because it is separate it can be moved around on the aircraft Laub 29 without having to relocate the microcontroller In the second prototype of the aircraft a slot was made for the USB port and the UI This makes it easier to connect to the port from the outside of the aircraft fiectritty sf z e e SM I 7 Figure 13 Ports on the outside of the fueslage There was no design process needed for the FPV or FPD systems These systems were simplified by the selection of pre made subsystem components The only assembly needed is connecting the power camera and monitors to the transmitter or receiver Figure 14 below shows two diagrams for both the FPV and FPD systems Both the transmitter and receiver have built in antennas that are not shown in the diagrams 30 Union College 2015 Aero Design Team Telemetry Systems Boscam 5 8 GHz Boscam 5 8 GHz Transmitter Receiver Hd N 5 O O O H H A AQ gt A G HI bo Airy 3g DE Camera Monitor Figure 14 FPV system diagram left and FPD system diagram right The TV monitor s power source is not shown in this diagram and would depend on the monitor available The GSDAS uses only two components and a computer to display the information received from the aircraft The microcontroller is the Arduino Mega 2560 which has a built in USB connection and it can be powered from the computer
50. he altitude information sent directly after this flag will be the altitude at the time of the drop PR22 also pertains to the drop mechanism and this can be achieved by only allowing the drop command to be sent if the previous altitude measurement was above 100 feet Using the main battery on the aircraft as the system s power source has not been completed because work on other aspects of the project took priority This requirement PR12 will be completed if the team decides that the telemetry package will fly on the competition aircraft and not just the prototypes PR14 and PRI5 both depend on the GPS integration into the system and this will be completed during the design of The Enterprise system PR20 PR21 and PR23 are goals that would bring more information and streamlined use to the team These goals are considered future work and are not within the scope of this project If more time was available then these components could be researched and integrated but there is not enough time before the competition to focus on secondary goals such as these 8 0 PRODUCTION SCHEDULE The majority of the fall of 2014 was spent researching components protocols and techniques that could be applied to this project In December of 2014 the first prototype was completed and tested unsuccessfully however lessons were learned and work on the second prototype The Hornet started shortly after Table 7 below indicates milestones and updates as they occurred o
51. he system 12 Now connect the Battery Jumper connector to the Arduino Mini Pro s RAW and GND headers Red to RAW and black to GND 13 Now connect a 9 V battery to the Battery Jumper A 9 V battery will only connect one way Telemetry System V2 0 Hornet User Manual board ve Figure 10 Sensors connected to I2C Bus Hub Figure 11 Battery Jumper connected to Arduino Mini Pro Figure 12 9 Battery connected Joseph Laub Telemetry System V2 0 Hornet User Manual Now that the hardware portion of The Hornet system has been assembled upload the telemetryHornet Arduino Sketch If you do not have the Arduino IDE software then visit this link http arduino cc en Main Software To upload this sketch follow these steps 1 Open the telemetryHornet ino file in the Arduino IDE software 2 Select the correct Serial Port for the system that is connected to your computer Note Fn A that this may be different depending on the cosa anaa m type of computer you are using For more Saaiboo GIS information about Serial Ports visit Boa ere http arduino cc en Guide Windows Seeger ATEO Figure 13 Serial Port selection 3 Select the correct Board next Select fi Gi Arduino Pro or Pro Mini 3 3V 8MHz w ica Sasa ATmega328 ae o Acito Daraa or Deere f NAGASE Arduino Nano wy ATmegadds Bum Bootloader Arduino Nano wy ATmegalg Arduina Kiega 2560 of Mega ADK Arduino Mega ATmegal30 Arduino Leonardo Arduino Esp
52. hen the system enters standby mode the next ten addresses on the EEPROM space have the value 255 written to them When reading the memory the read function knows where to stop when reading all of the data because ten 255 data points in a succession indicates a stop It would be inefficient to read all of the 32 768 addresses onboard the chip if large amounts haven t been used This minimizes the time that the user has to wait while the data is read from the EEPROM chip 34 Union College 2015 Aero Design Team Telemetry Systems 7 0 PERFORMANCE ESTIMATES AND RESULTS 7 1 SYSTEM RESULTS The Hornet system is the current design of the telemetry system for this project and can be seen in Figure 11 from section 6 1 This system was completed with the exception of the GPS component The Navigatron V2 which uses the GTPA010 GPS was selected for its ability to communicate with a microcontroller using the I2C protocol However this device was never successful in communicating over the I2C bus The component was tested serially to determine if it was functioning correctly and when using a serial communication method it is able to return the NMEA sentences with accurate location and time information A parser sketch was developed to read the information serially from the GPS however it is still under development and has not been integrated into the overall Hornet design yet The GPS component is the only incomplete component from the Figure 11 diagram The
53. hen communicating with one slave device such as a sensor the SS is fixed and communication is essentially a three wire system The master such as a microcontroller sends read or write commands using MOSI to the slave and the slave sends information back across the MISO line However when multiple slave devices attempt to connect to the four serial buses the Laub 15 communication becomes more complicated as the SS line must switch which slave to communicate with SPI works well for embedded systems with fewer slave devices and less size constraints since four wires are required for communication this uses more pins on a microcontroller I2C protocol is similar to SPI in that a master device can control several slave devices however I2C only uses two wires not including power and ground These two serial lines are the serial clock SCL and serial data SDA lines I2C is designed for multiple slave devices because each I2C compatible device has its own one byte address Figure 3 below outlines a typical I2C circuit where the master device may be a microcontroller and the slave devices may be sensors Ground Power esi 5 GL I I 1 E I I I ii Master Microcontroler Sensor Figure 3 I2C example circuit Communicating with multiple sensors along the same serial buses reduces the amount of wires and pins that needed to be used by the microcontroller This can be done because I2C sensors all have th
54. his variable holds the time value for the script float timeDiff 0 Holds the difference in time that has been calucted Used for determining sampling times float timeZero 0 Used for zeroing time float zed 0 long address 0 This variable chooses which EEPROM address to write to for function writeEEPROM int altDecData 0 Variable holds the decimal places from the altitude long maxAddress 32768 The maximum address that will be reached by the system before ending int sampleTime 500 in milliseconds time between measurements int temperatureData 0 Set temperature value to zero for start int ToFData 0 inmm Time of Flight data for liftoff confirmation int timeBin 0 Holds the time as a binary value void dataAcquisitionLoop zed altitudeZero timeZero millis Take a time stamp of when this loop starts so that data can be synced to this starting time digitalWrite infoLEDPin HIGH Turn on infoLED to indicate that data is being acquired Serial printIn DATA ACQUISITION LOOP EXECUTED while dataLoop true timeBeforeLoop millis timeZero in ms time before data is acquired airSpeedData findAirSpeed in mph air speed is returned pressureData findPressure in Pa pressure is returned multiplied by 1000 to preserve decimal values temperatureData findTemperature in F temperature is returned altitudeData pressureToAltitude pressureData
55. ie Neat e e dataFile num2str p num2str p var Plot from file Xlabel Index ylabel leval var eval data num2str p SETT humzZste p Unies end x Axis selected Plot all variables with the x axis case num2cell l varCount xAxisTitle eval disp xAxisTitle o Re Var num2str xAxisInpuc selected as x axis Reading and Formating EEP ROM Data from File with Custom Data Type Order xAxis eval data num2str xAxisInpuc F 1 ZAZU ae evalil Sata num2str xzAxisInput Unitse 1 for l varCount Switch xAxisTitle case eval var num2str p otherwise figure plot xAxis eval data numZstr p zcus dd title eval var num2str p Plot from file dataFile xlabel xAxisTitle xAx1sUnits vlabel eval var num2str p 1 eval data DUNZSCLIP se Unite end end otherwise disp Unknown input No plots created end otherwise disp Unexpected input No plots created end CLE disp EEPROMRead m done Published with MATLAB R2014a 68 Union College 2015 Aero Design Team Telemetry Systems APPENDIX M Telemetry System V2 0 Hornet User Manual attached on next page 3 17 2015 UNION COLLEGE AFRO DISSE TEAM TELEMETRY SYSTEM V2 0 THE HORNET USER MANUAL Written by Joseph Laub Joseph Laub92 gmail com Joseph Lau
56. ifted down and the first data point corrected The Figure 19 test showed that at the top of the stairwell the system was measuring 31 65 feet This precision satisfies PR3 however the data in Figure 20 shows that the max altitude was 34 18 feet which does not satisfy PR3 Yorktown Stainvell Test 3 Akitude Read YU p i et pee terrieri ae ee aen aren PA H Albbude Read H Tj oa Ll i AAA eee 4H H HAHA HHI ts Altitude ifi I 0 20 40 60 0 100 120 Address Yorkin Stoned Test 3 Atude Read Filtered J 30 PE eth Altitude Read pe yet rar artt Tha 3 20 ee eget gor by NA 10 ee lat a ee ar tg bu Apt ni unt rap ate ppt eget tata fi 20 d 60 20 100 120 Address Figure 20 Stairwell test 3 Since altitude is based on pressure this test is prone to a lot of noise from heat and weather If the competition judges base PR3 off of the datasheet then this sensor is sufficient for competition but if PR3 is based off of performance then a new sensor will need to be selected 38 Union College 2015 Aero Design Team Telemetry Systems PR2 is incomplete because no payload drop mechanism has been constructed However this requirement will not be difficult for next year s team to fulfill When the drop mechanism is activated a flag byte can be sent to the ground station via the transmitter onboard the telemetry system This flag byte indicates when the drop mechanism was activated and t
57. ion in the room so that people are not likely to walk by the spinning propellers Place damping blocks foam underneath the corners of the test bed Place a 10 lb weight flush up against the back rail of the test bed Mount the motor to the front of the test bed and tighten Attach the propeller to the front of the motor Double check that the bolt holding the propeller on the motor is in fact secure Attach the leads of the motor to the electronic speed controller ESC Connect the deans power leads from the power limiter to the deans power leads on the ESC a If the ESC does not have deans connected already Solder deans connectors to the power leads Connect to the Programmer output of the ESC to any open connection on the receiver 11 Use the blank signal connection from the ESC to connect to the power limiter a Ensure that the blue wire from the power limiter connects to the white wire from the ESC 12 Connect the remaining signal connection from the power limiter to the throttle on the receiver 13 Attach the wattmeter to the deans connectors on the power limiter a If no deans connectors attached solder then on the meter s leads 14 Make sure you are standing behind and clear of the motor DO NOT stand to the sides of the spinning propellers and wear goggles 15 Place battery in wooden box 16 Attach deans connections from the battery to the watt meter a Ifno deans connectors solder them in place b The watt meter will
58. is known scaling The groundspeed UTC time and location data have all been scaled by 100 to make them integers for storage and they are scaled down during in the post flight analysis Each variable is stored on the EEPROM chip one at a time EEPROM data can be explained as two columns of data addresses on the left and data on the right The EEPROM chip contains 32 768 addresses that can Laub 33 be written to one at a time Data is written to one address and then the next data point is written to the incremented address and so on This creates one column of mixed data points however because the method of writing data is known then the pattern of the data can be separated out during analysis Figure 17 illustrates this two column explanation and how the order of data can be predicted Addresses Data V 0 O Airspeed 1 49 Altitude MSB 2 20 Altitude LSB 3 69 Temperature 4 0 Airspeed 5 122 Altitude MSB 6 59 Altitude LSB f 69 Temperature a O Airspeed 9 124 10 91 11 69 12 0 13 124 14 64 Figure 17 Example of stored EEPROM data points from The Yorktown system Since the pattern of the information in the column is known it can be extracted easily using a MATLAB script developed for the project Appendix L After the information has been saved the altitude information is then transmitted to the ground station Then the loop checks the push button and if it has been pressed it enters standby mode else it continues looping W
59. isiInour XAEXISUNITIES Sas eval l data numZstr xAxisInput Unite subIn 1 Por L ivarCount Switch xAxisTitle case eval var num2str p Reading and Formating EEP ROM Data from File with Custom Data Type Order otherwise Subp Lob VarCount l Ly Subin plot xAxis eval data humZscr p J b o title evali l var REP Plot from file dataFile l xx FontWeight bold xlabel xAxisTitle xAxisUnits ylabel eval HuUMZzSer tp Jesa Char l0 eval data niumzsce Dp Miitce FTI subIn subIn 1 num2str p war end end oLhervise disp Unknown input No plots created end 2 s Individual plots case 2 s5 method of these variables the x axis char 10 corresponding variable number or x axis char 10 char 10 Are one Enter the U LOr no t Creates a string list of the variables for the user to see s5Temp o for sTemp l varCount s5Temp s5Temp Variable num2str sTemp eval var num2str sTemp char 10 end s5 s5 sbTemp xAxisInput input s5 This switch case statement will decide how to plot the individual pilots o o ci 0 Switch xAxisInput No x axis selected case 0 disp No x axis selected Plot all variables singularly ror p lsvarcount figure plot eval data title eval l
60. issues have been encountered Aircraft Setup For installing The Hornet telemetry system in an aircraft make sure the following guidelines are noted This installation will largely depend on the design of the aircraft but it is important to keep these guidelines in mind when installing this system The airspeed sensor uses a Prandtl style pitot static tube pictured in Appendix J which measures total pressure and static pressure to find air speed The pitot static tube must face directly forward to get an accurate measurement Place the airspeed sensor inside the wing section normal to the leading edge and away from the propeller to avoid wash Figure 21 demonstrates this technique Figure 20 Pitot static tube in the wing section The MPL3115A2 altimeter sensor also measures pressure to find a change in altitude Keep this sensor away from the wash of the propeller and from any significant heat sources such as the battery and motor The VL6180 Time of Flight sensor should be mounted on the bottom of the fuselage Make sure that it has a clear line of sight to the ground It uses IR and the delay of the reflection to determine distance therefore any objects in its path such as the landing gear would make it inaccurate The GTPA010 GPS communicates with satellites at 1575 42 MHz and is susceptible to interference from electronic devices the motor in particular Mount this sensor as far away from Joseph Laub Telemetry System V2 0 Hor
61. ltitude ft Makes the title for figure pLoto dx dy dz binevicrn 2 hold on plot3 targetX targetY zeros length targetX b axis 0 axisLimit axisltimit 2 axishimit 2 0 axislimit axis square citle strel xlabel X Dlirection meters ylabel Y Direction meters zlabel Z Direction meters legend Projectile Path Target Area acceleration in z direction velocrty in z direction Humanitarian Aid Pack age Drop Simulation grid ON figure str2 Aircraft traveling at lt num2str xSpeed x num2str ySpeed v num2str zSpeed z gt mph Altitude num2str altitude ft Side View Makes the title for figure plotidx dz P limenildacn 2 ax1s 0 axisLimit 0 axisLimit title StE2 xlabel X Direction meters ylabel Z Direction meters Ilegend Pre jectile Path grid ON Aircraft traveling at lt 30x Oy Oz gt mph Altitude 100 ft Projectile Path 77 Target Area Direction meters Y Direction meters x Direction meters Humanitarian Aid Pack age Drop Simulation Aircraft traveling at lt 3Ux Oy Qz gt mph Altitude 100 ft Side View Projectile Path og eee FITTE TATA RIA ignis b i ha io ny DI N DI Direction meters O J z 10 ie 20 Li al SO A Lirection meters Results leadDistance max dx metersToFeet disp Lead Distance num2str leadDist
62. n the final design for the telemetry system This design of the telemetry system named The Hornet includes all four systems and their subsystems Table 5 breaks down the components for each system and subsystem along with the voltage requirements of each device Figure 11 below illustrates the block diagram for The Hornet Table 5 Breakdown of components for systems and subsystems System Subsystem Component Voltage Requirements Minimum V Maximum V Data Acquisition User Interface N A Sensors 5 5 N N N N N N 5 Yellow LED N A 16 0 14 8 12 0 5 12 0 O IA IA JA JA JA IA 16 0 3 6 0 3 3 26 Union College 2015 Aero Design Team Telemetry Systems First Person Display Video Receiver Boscam 5 8 GHz FPV Receiver System Display Any video monitor with RCA ports 434 MHz RF Link Receiver Ground Station Microcontroller Arduino Mega 2560 Data Analysis Information Computer with Arduino Software System Display SDA SIL wc i 3 Aake off Landing on Sensor Lee Air Speed Sensor Aircraft Microcontroller Video Data Transmitter Transmitter I I I I I I I I I I I I I I i I I Video Data Receiver Receiver I E PES I I Microcontroller User internace Ground Station Figure 11 The Hornet block diagram The FPV system is made up of two subsystems the camera and video transmitter These can both be powered by a 3 cell 11 1 V battery or they can use volta
63. net User Manual the motor and electrical systems as reasonably possible and keep it as high as possible As clear of a line of sight to the satellites as possible is also important but not entirely necessary e The User Interface board should be easily accessible for the system to be started or stopped The LEDs are important indicators that allow the status of the system to be observed without a computer e The FDTI port must be accessible in order to read and clear the memory Joseph Laub Telemetry System V2 0 Hornet User Manual 8 Appendices Appendix A Arduino Appendix B 6 Wire Appendix C FDTI Appendix D USB Mini Pro Jumper a Port to uate LIRE ni POE iotseg 1013 l aE i 1 1 NU9 pin L0 gea spar Kun com iL E ae 8 SUU ardulna e i i AE A x XO X1 OND 13 ENE OX1 8 DODO i a NE E D ee aoa Se X PTT Appendix E Appendix F User Interface Appendix G 3 Wire Appendix H I2C Computer with USB Board Jumper Bus Hun ports c Appendix J AirSpeed Appendix K VL6180 Appendix L Appendix M MicroSensor V3 GTPA010 MPL3115A2 Appendix N 256 kbit Appendix O Battery Appendix P 9 V EEPROM Chip Battery Ws SS 0000C Oe OO i ZBILJ
64. o a target from at least 100 feet This competition does require a telemetry system that can gather altitude data as well as transmit a video feed from the aircraft to the copilot on the ground The pilot is not allowed to see the video feed and must fly the aircraft by sight The copilot uses the video feed to help the pilot line up the aircraft over the target zone a circle with a 50 foot radius and then releases the package over the target It is the copilots mission to hit the target and the pilots mission to fly the aircraft The telemetry system required is integral to this process Just as an aircraft s flight would be considered failed if the aircraft crashed any failure in the telemetry system is also considered a failed flight The telemetry system is why Union College has never competed in the Advanced Class The 2015 team has electrical engineers and mechanical engineers making it the first interdepartmental Union College Aero Design Team This telemetry system will be mounted in the aircraft and will collect and store data from sensors transmit data to a ground station and provide a video feed for the copilot The system will not only be 6 Union College 2015 Aero Design Team Telemetry Systems used this year for post flight analysis of test flights and prototypes but it will also allow Union College to compete in the Advanced Class competition for the first time next year 2 0 BACKGROUND 2 1 HISTORY The Union College Aero Team has
65. ographs for each part can be seen in Appendix 1 Arduino Mini Pro Board 2 6 Wire Jumper 3 FDTI Port 4 USB to Mini USB 5 Computer 6 User Interface 7 3 Wire Jumper 8 I2C Bus Hub 9 AirSpeed MicroSensor V3 10 VL6180 Time of Flight Sensor 11 GTPAO10 GPS Sensor 12 MPL3115A2 Altimeter Sensor 13 256 kbit EEPROM Chip 14 Battery Jumper 15 9 V Battery Test Setup For testing The Hornet telemetry system follow these steps This setup is not meant to be installed on an aircraft For aircraft installation go to page 1 Begin with the Arduino Mini Pro microcontroller ras ie lt lt ake 4 wer JIN det pr 7 zme ies qui pe Ronit Sad 4 M e 2 Connect the 6 Wire Jumper to the Arduino Mini Pro s BLK through GRN headers Figure 2 FDTI Jumper connected to the Arduino Mini Pro PNE 2 3 Then connect the FIDI Port to the other GA a 2 end of the 6 Wire Jumper Make sure that atte e the BLK ports of the Arduino Mini Pro and FDTI port are connected The FTDI port and the Arduino Mini Pro s BLK GRN headers should line up one to one Figure 3 FTDI connection to Arduino Mini Pro 4 Then take the USB to Mini USB cord and connect the mini USB to the FTDI port Joseph Laub Telemetry System V2 0 Hornet User Manual ss E san pm l bis j FTOI Basi 5 The USB end of the USB to Mini USB cord connects to any computer capable of running the Ard
66. olymer battery The rules mandate the use of a lithtum polymer battery more specifically a 6 cell lithium polymer battery If the battery were to become damaged at any point then it will not only become dangerous but it will also pose an environmental risk as well The lithium in the battery could ignite and result in a combustion reaction that would be dangerous to the surroundings However because the competition now uses batteries and not gasoline as it did for years carbon emission has been reduced There is risk involved with lithium polymer batteries but these batteries are safer and more environmentally friendly than gasoline engines 2 4 MANUFACTURABILITY The telemetry system designed and built this year will not only be used for this year s aircraft but it will also be used for next year s team as well This means that this system needs to be constructed so that it can be rebuilt and modified easily The system should be modular in its design and should be able to be moved around the aircraft in case of last minute aircraft design alterations or fixes Sensors should be easily replaceable in the event of a crash and this should be a simple process Therefore sensors were designed to be connected using standard jumper wires and headers An in depth user manual was written so that next year s team could easily rebuild the system and begin testing Components and their datasheets have been logged in an accessible place for future teams and
67. or cleared the yellow LED on the UI will become solid to indicate that the system is working and it will turn off when it is finished If the data acquisition loop is chosen then the LED will blink once to indicate that it is zeroing altitude then it will become solid once it is zeroed and acquiring data An entire dataset is acquired every 0 5 seconds and one variable is measured at a time during this dataset Time is the first value that is measured and this is obtained from the Arduino Mini Pro s clock in the microcontroller Time is 32 Union College 2015 Aero Design Team Telemetry Systems used for post flight analysis and is recorded in milliseconds This variable uses two bytes of EEPROM space per measurement on the EEPROM chip Airspeed is the found from the Airspeed MicroSensor V3 and is recorded in miles per hour This variable only requires one byte of space from the EEPROM per data point Then pressure is found from the MPL3115A2 and is used to calculate altitude in feet One byte per data point is allocated for this variable Temperature is then measured from the MPL3115A2 and is in Fahrenheit This information requires one byte per data point and even though this variable is not of major post flight analysis importance it is still recorded because of its availability on the MPL3115A2 The VL6180 range finder information is measured after the MPL3115A2 This returns the range in centimeters from the bottom of the fuselage to the ground
68. own a runway The aircraft swerved into a snowbank and the front landing gear was destroyed and no telemetry data was gathered from this test The second test was conducted in the field house at Union College and the telemetry system was tested before use However at some point before or during testing the SCL wire broke off of the Arduino Mega 2560 and no data was recorded during the field house tests The aircraft was able to takeoff but stalled due to the angle of the wing The aircraft crashed nearly immediately after takeoff and Pl Murcielago was decommissioned shortly after From testing The Yorktown system several lessons were learned about circuit construction test procedures and code structure Solid wire is more prone to breaking than stranded wire because of its stiffness The SCL line in The Yorktown was a solid wire and it snapped off in the microcontroller header At the time of these test flights only the 4096 bytes of EEPROM space were available on the Arduino Mega 2560 This meant that test runs had to be under two minutes and this restricted the team s ability to test quickly The code structure needed to be changed to Laub 25 allow for a start and stop function so that data acquisition could be paused while other members of the team are preparing the aircraft for the next test 6 0 FINAL DESIGN AND IMPLEMENTATION 6 1 FINAL DESIGN FUNCTIONAL DECOMPOSITION Figure 1 in section 3 4 outlines the systems and subsystems implemented i
69. r it would likely fly forward however it could also fly outward from the motor This is why safety glasses are worn during tests and why people always stand behind the motor 3 0 DESIGN REQUIREMENTS The design requirements for the telemetry system stem from two main sources The SAE International 2015 Collegiate Design Series Design Aero East and West Rules and the Union College 2015 Aero Design Team 3 1 COMPETITION REQUIREMENTS The SAE International 2015 Collegiate Design Series Design Aero East and West Rules clearly layout the requirements of a telemetry system and a data acquisition system DAS Table 1 below outlines the different requirements taken from the competition rules Table 1 Requirements from SAE rules Altitude must be monitored in real time at a ground station 5 1 13 Must record the altitude at the moment the payload is released 5 1 13 Altitude must be measured with the precision of ft 5 1 14 The DAS must have a visible read out at the ground station 5 1 14 The DAS cannot use the flight control frequency 2 4 GHz 5 1 14 Must include a first person view FPV system onboard the aircraft with a ground station display 5 1 16 The DAS must include an arming reset switch 5 1 14 There are not many requirements that concern the telemetry or DAS and most of these requirements pertain to altitude However any failure of the DAS during flight or any violation of these requirements will result in a missed L
70. remainder of the system works as expected in the lab and results have been produced by lifting the system up and down and imitating a flight Figure 18 below shows a fake flight test using all of the components with the exception of the GPS Air Speed Plot from file fakeFlight txt Air Speed miles hour O1 O IRRRRRRTTRRAIRRRRRRRRRRRR YI TRN CERRY _ TERRRRRRRRRRRRRRRRRRRRRRRRRRRRERRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRR TN TTT CER YE RRRRRRRRRRRRRRRRRRRRRRRRERRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRERRRRRRRRRRRRRRRRRRS MM MIU VIA AA 7 DX LZ AAA AA AAA TASTE AVV VU AA eee Z i C Fuse age mange Finder Plot from file fakeF ight txt 0 20 40 60 80 100 120 Time Seconds Altitude Plot from file fakeFlight txt Fuselage Range Finder 0 20 40 60 80 100 120 RARARRARARRARARRARRARRARARRARARRARARRARARRARARER DCI TA PAAA ER VY MANY UY YY TATATA TATATATA TATATATA TATATA ATAT ATATA TATATATA TATATATA TATATATA AA Time sec OI 1ds Figure 18 Fake flight testing in the lab Laub 35 This test shows the system working as expected The airspeed plot shows several spikes as someone blew into the airspeed sensor to simulate airflow The VL6180 range finder returns approximately 40 mm when the aircraft is close to the ground and 255 mm when it is airborne The MPL3115A2 shows altitude as the system was raised up and down in the lab by fishing wire The zero point for altitude in this test was 10 feet This was done
71. rganize the project Requirements are listed in three categories M for mandatory I for primary and II for secondary Each requirement also has a project requirement number PR so that it may be referenced later Table 3 Requirements prioritized PR Requirement Priority PRI Altitude must be monitored in real time at a ground station PR2 Must record the altitude at the moment the payload is released PR3 Altitude must be measured with the precision of ft PR4 The DAS must have a visible read out at the ground station PRS The DAS must include an arming reset switch The DAS cannot use the flight control frequency 2 4 GHz PR7 Must include a FPV system onboard the aircraft with a ground station display PR8 Ample non volatile onboard memory Minimize weight of telemetry system PR1O Minimize size of telemetry system Laub 11 Single low power source Advanced Class only Use motor battery as power source Regular Class only Monitor airspeed Monitor groundspeed Record location Transmit altitude data Project cost less than 500 Recording takeoff landing time pd pd p pd pd pd pd p bi p bi p p p p be UI panel Accelerometer data Gyroscopic data I Failsafe drop Data FPV overlay I 3 4 FUNCTIONAL DECOMPOSITION OF THE PROJECT With the requirements defined they can be assigned to different systems within the project These four systems are the FPV System DAS FPD system and ground
72. roundspeed and UTC time The Yorktown was tested on the first prototype aircraft Pl Murcielago which flew unsuccessfully and a broken wire resulted in no telemetry results The Hornet will be flown on the second prototype aircraft P2 Murcielago and with the lessons learned from The Yorktown the current system will be able to record information for the engineers to use in their design for the final competition aircraft After the competition this system will be passed on to next year s Aero Team so that they may compete in the Advanced Class competition for the first time in Union College s history This system has been built with this goal in mind and has been designed to be easily broken down and built up with the assistance of a user manual The Hornet system will give the 2015 Aero Team better insight into their aircraft once the second prototype aircraft is ready to fly and after the GPS unit is integrated into the system it will be ready for the 2016 Aero Team and all future Union College Aero Design Teams 2 Union College 2015 Aero Design Team Telemetry Systems TABLE OF CONTENTS SUI MIN ALY RR RR RR RO ERROR l LO Tntroduc Houseen leale 5 Backioinda lalla ll le 6 L Hostellerie 6 LEO 6 2 ALICI RAFPRZRE STORIA O RO O OO ORIO OOO OO IO OTO OI OTT E i 24M ona di 2 5 Hoalthrafid Salerano iii aida 7 SODES r SS I ARRE AR ARE ON AO ONE SIOE ORTONE O O 8 SC ormpelnon Requirements iaia lalla 8 Tablet Requirements from SAE TUleS 21 525
73. s at a higher speed If the aircraft were flying slowly over the target the difference the drag forces make are negligible as seen in Figure 9 below therefore they can be ignored No Drag Forces vs Drag Forces No Forces Drag Forces Y Direction meters 0 5 10 15 20 25 30 35 40 X Direction meters Figure 9 A payload path with and without drag forces at 10 mph at 100 feet The fall of 2014 was largely focused on the simulation and research of the telemetry system By the end of the winter break The Yorktown system was operating as expected with altitude and airspeed being recorded The ChipKit Max32 Prototyping Platform was used as the microcontroller for the DAS in the beginning But due to 24 Union College 2015 Aero Design Team Telemetry Systems issues interfacing with the airspeed sensor this microcontroller was replaced with the Arduino Mega 2560 in November of 2014 5 2 PRELIMINARY DESIGN CONCLUSIONS In December of 2014 the first prototype aircraft PI Murcielago had finished construction and was ready for testing The Yorktown had been tested in the lab prior to the test of the aircraft and was installed in the fuselage of the aircraft for the first test flight Figure 10 P1 Murcielago under construction left Top view of the fuselage with The Yorktown right P1 Murcielago was tested on December 15 2014 and suffered two crashes The first test was conducted to get the aircraft moving forward as if d
74. spent approximately 13 000 by the end of the project This cost included everything such as building materials and the cost of travel down to Georgia for competition There is no telemetry system budget from last year s team to approximate this project s budget However the Student Research Grant at Union College typical provide 500 maximum for projects such as this senior thesis 500 will be the base amount for this project and the goal will be to spend no more than 500 since this is the typical maximum amount allowed for grants However due to previous grants this project was not eligible Instead the Electrical and Computer Engineering Department at Union College will pay for the project materials and components No set amount was given from the department and so a 500 maximum was assumed Laub 7 To fund travel and shipping expenses for this project outside funding along with the Student Conference Travel Grant were sought out A 2500 grant from James Taylor a 500 grant from Schneider Electric and a 600 travel grants for each team member will pay for shipping and travel costs for the competition This combined 3600 is not solely for telemetry systems but it is for the entire team which includes this project A full breakdown of costs and expenses can be seen in section 9 0 of this report 2 3 ENVIRONMENTAL The environmental issues and problems associated with this project mainly concern the power source of the aircraft a lithtum p
75. stance and lead time to the target are returned This is how far ahead of the target area the payload needs to be dropped in order to hit the center of the target Contact Info Joseph Laub92 gmail com Note that axes are defined as x 1S axis parallel to center axis of aircraft forward and backward y 1S axis perpendicular to center axis of aircraft left and right z is altitude up and down Reset Workspace close all clear cilc User Defined Constants altitude 100 feet xSpeed 30 mph ole O Humanitarian Aid Pack age Drop Simulation yspeed 0 mph zSpeed 0 mph r 0 05 meters radius of payload package tr 50 feet radius of target m 3 pounds max of package CD 0 6 Estimated from lt http www engineeringtoolbox com drag coefficient d_627 html gt Equations Drag Force Equation F_D 1 2 rho v 2 C DA Initialize Constants 0 Coverstions mphToMetersSecond 0 44704 metersSecondToMPH 1 0 44704 feetToMeters 0 3048 metersToFeet 170 3048 o alt VxO vy0 yag c Initial Conditions altitude Feet xSpeed mph ySpeed mph zopeed mph SInitial conditions converted into metric alt feetToMeters Meters drop height alt vx vy0 vz0 0 vx0 mphToMetersSecond m s vv0 mphToMetersSecond m s vzO mphToMetersSecond m s Coefficents initial initial initial X bg Z rho 1 225 ko m3 Cl
76. stored EEPROM data points from The Yorktown system 33 T O Performanee Estimates And Results iii 34 TSE RESULTS tinti A ASTI TE 34 Ricure Ns Pake fi cht testins in the adi nali eri aida LS ITA aio 34 I 2 Reguiremenis Completeds idilliaca 35 Table 6 Requirements based on Table 3 Green represents completed Red represented incomplete Blue represente unkno nni dai 36 Risuie 19 Stare li Starace lalla oa 37 Fisure20 Sfarwelliest gt 5 olo lalla aaa 37 O Produc non Schedule ncnion boiler aac 38 Rable Projeetmilestones andidale alba 39 TOCOS ANa S Kaen Ree PS eae Sa en ES RT Sr en SI SUE PT E Se One oS 40 Table 8 Project costs and totals without shipping i 40 LO 0 UseeMantalica piselli ale lalla elia elba 41 ELO Conclusions and Fuite Works iitea 41 ZO Acknowledment pece 41 Jo RETRO CES ae 42 FEO APPENdI CS alia 42 APPENA asolo 42 pidocchi 43 PRD PCO eC alici iii si 43 APPORRE Dirichlet 43 pillola 44 PRD STNG Ponana 44 APP 44 Union College 2015 Aero Design Team Telemetry Systems ee a tah a a th ca hh at le rat atl 44 elica 44 elica 45 OOE RO Sa ce cm ITA SI lella 60 euribor aa Ds ett 68 Laub 5 1 0 INTRODUCTION The goal of this project is to design and build a telemetry system that can be used to test and improve prototype aircraft for the 2015 Union College Aero Team while also preparing the 2016 team with the means to compete in the Advanced Class competition A telemetry system is a system
77. that automatically measurers and collects data from a place that is not accessible by normal means of testing For example a system that can measure and collect data from an unmanned aircraft during flight would be considered a telemetry system Altitude airspeed groundspeed location and time are examples of measurements that could be made on an aircraft The 2015 Union College Aero Team will compete in the SAE Aero Design Regular Class Competition on April 24 through the 26 Teams must design and build an aircraft that is capable of carrying as much weight as possible the goal this year is 28 pounds while adhering to design requirements such as size power and materials No telemetry system is required for the Regular Class competition however a telemetry system would be beneficial to testing prototypes for the competition This would allow the engineers designing and building the aircraft to gather information about the aircraft while it is in flight Past Union College Aero Teams have never obtained empirical data about their aircraft during flight This creates a gap from year to year as teams are not able to quantify past performances A telemetry system would solve this problem and give future teams better results to start from The Advanced Class competition s challenge is different than the Regular Class competition Teams must design and build an aircraft that can drop a three pound humanitarian aid package represented as a sandbag ont
78. that it is connected to Figure 15 shows the setup of the microcontroller and the data receiver the USB to computer serial connection is not shown in this diagram Arduino Mega 2560 DATAOUT VCC ANT 434 MHz Receiver Figure 15 GSDAS diagram Laub 31 6 3 SOFTWARE To control the four sensors and store data several sketches had to be written in the Arduino IDE software which uses a modified C programming language This system gives the user three options when powered on and connected with a USB cable to computer The user may run the data acquisition mode read the EEPROM memory or clear the EEPROM memory This can be done by sending the microcontroller a 1 2 or 3 serially from the computer The data acquisition loop may also be started by pressing the push button on the UI If the data acquisition loop has been started it can also be stopped by pressing the push button Figure 16 below shows the flowchart for the DAS diagram this is order of events that take place when the system is powered on Power On Clear Memory e 3 1 gt Zero Altitude Acquire Data Make Necessary Read Memo y Corrections to Data store Data False Transmit Altitude heck for Stop True Data Figure 16 Flowchart for DAS software See Appendix K for C sketches Reading and clearing the memory is a quick process that allows the user the reset the system for the next flight When the memory is being read
79. tthew Wenner 42 Union College 2015 Aero Design Team Telemetry Systems 13 0 REFERENCES 1 Dong Lonnie R 2015 Aero Design East and West Rep SAE International 30 Aug 2014 Web 21 Nov 2014 lt http students sae org cds aerodesign rules 2015_aero_rules pdf gt 2 Himpe Vincent Mastering the I C Bus Susteren Elektor International Media 2011 Print 3 Hojnacki Richard Electric Propulsion System amp Test Bed Design Senior Project 497 Report Thesis Advisor Ashok Ramasubramanian Union College 2013 Print 4 Hojnacki Richard Electric Propulsion System amp Test Bed Design Senior Project 498 Report Thesis Advisor Ashok Ramasubramanian Union College 2014 Print 5 O Available http www helipal com airy 3g mini camera html 6 O Available http www helipal com boscam 5 8ghz fpv system 500mw html 7 O Available http www helipal com sony 700tv lines ccd camera pal html 14 0 APPENDICES APPENDIX A 1 Make sure the battery is in the fireproof container bag Before plugging in the EZ Peak Plus charger a Connect the multicolored connectors from the battery to the appropriate spot on the balance adapter board You ll know you re correct because it only fits on way 1 4s batteries to the 4s slot 6s batteries to the 6s slot etc b Connect the power cable deans connectors from battery to the deans connectors on the charger Plug in the AC power cord for the EZ Peak Plus charger to the
80. uino IDE software 6 Now place the User Interface board near the Arduino Mini Pro he Soo Q D000 DI woa meds es 52 00 ingue nnn ri i x DO DOO Lc Figure 5 Arduino Mini Pro and User Interface board 7 Take the 3 Wire Jumper and connect it to pins 2 4 on the Arduino Mini Pro Note which color wire is connected to pin 2 Wire Jumper to Arduin 8 Take the other end of the wire and connect AY eh NUUR it to the User Interface Make sure that the pin 2 color wire is connected to the header closest to the yellow wire on the board as seen in Figure 8 Figure 7 3 Wire Jumper to User Interface Joseph Laub 9 The power connection for the User Interface is soldered to the Arduino Mini Pro It is the 2 Wire female connections red and black Connect this to the User Interface board and insure that the red wire lines up with the small red wire on the User Interface board 10 Now we will set up the I2C Bus Hub which is already connected to the Arduino through soldered black red brown and blue connections 11 Each of the four sensors parts 9 12 have multicolored 4 wire jumpers connected to them Each jumper is aligned to match the black red brown and blue wires from the Arduino Mini Pro Connect all four sensors such that the green wires all alright with the black wire s row Seen in Figure 11 It is important these rows to not cross as this will ruin t
81. ven in the event of a power loss Record takeoff landing time Having a way of knowing when the aircraft took off and when it landed so that airspeed could be recorded at those moments Accelerometer data Measuring the amount of force the aircraft endures during a flight could help the team quantify safety factors for design Gyroscopic data This data could bring insight into how the aircraft performed inflight This would be useful for determining how much shake or flutter the aircraft endured 10 Union College 2015 Aero Design Team Telemetry Systems Failsafe drop Having a failsafe drop method so that the package could not be dropped unless the aircraft were above 100 feet would ensure that that rule was never violated Data FPV overlay Overlaying the data transmitted to the ground station onto the first person display FPD would allow the copilot to monitor the data and watch the FPV feed all the in the same place Transmit all data Transmitting all of the data stored on the aircraft would allow real time performance evaluation of the aircraft while in flight User Interface UI panel A panel that can be mounted on the outside of the aircraft so that the telemetry system can be controlled without the use of a computer 3 3 REQUIREMENTS PRIORITIZED Prioritizing these requirements helped determine the functional decomposition of the project Since some of these requirements are more important than others Table 3 was created to o
82. ver the course of this project Laub 39 Table 7 Project milestones and dates 10 6 2014 Preliminary research and requirements completed 10 13 2014 chipKit Max32 Prototyping Platform and airspeed sensor testing 10 20 2014 MATLAB projectile simulation begins continued chipKit Max32 and airspeed testing 10 27 2014 MATLAB projectile simulation shows drag and groundspeed relevance to path of payload drop 11 3 2014 EEPROM and I2C research completed I2C protocol selected for sensor communication design FPV and FPD components ordered 11 10 2014 I2C software testing and research with chipKit Max32 Prototyping Platform Altimeter component research begins 11 17 2014 Arduino Mega 2560 is selected as the microcontroller Arduino Mega 2560 and MPL3115A2 ordered 12 9 2014 Arduino Mega 2560 MPL3115A2 and Airspeed MicroSensor V3 interfacing successfully The Yorktown is designed built and tested GPS component ordered 2 20 2015 GPS I2C communication method replaced with serial communication method 2 27 2015 The Hornet system is finished with the exception of the GPS integration The Enterprise system design begins Inefficiencies in this project can be attributed to the GPS selection and the initial chipKit Max32 Prototyping Platform tests The chipKit Max32 Prototyping Platform was tested for several weeks because it was already owned and did not need to be ordered This microcontroller was unable to int

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