j-levy/quadrupel

Quadcopter code for CS4140

Software package for CS4140ES Embedded Systems Laboratory

Embedded Control software for quadrotor drone

The master branch contains the implementation till full control (mode 5) wih safety features, as demonstrated during the lab exam.

Mode 6 (Raw mode) was attempted and is partially implemented. Branch "filtering_butterworth_jon" can be checked out to access the code for mode 6. It contains the following:

1. Code for filtering of raw sensor data and display of filtered response through a live graph on PC.
2. Kalman Filter implementation

quadrupel's Issues

Implement some protocol for the link Board --> PC

We need to send relevant information on the PC in a structured form, so that we can read them with the serial link, and store them (some kind of logging is required).

• Find out which information has to be sent
• Implement on the board how to send information
• Implement on the PC how to read and decode information (store them in relevant variables, etc.)
• Implement some logging on the PC side (open file, write in file, etc.)

Create a PC-Board communication

Niket is working on packet creation.
I work on the packet read on the board.
A first structure is implemented for both of us to test it. When we're done, we can merge on PC-Board-communication branch, to test our implementation.

Implement actions regarding the packets

We need to implement how the packets we are sending over serial are modifying the board's variables and behaviour. This includes:

[ ] Creating the modes
[ ] Motor changes over keyboard controls for the right modes
[ ] Motor changes over joystick controls for the right modes
And probably more. Will be updated if we think about something.

Sending packet id 00FF makes the UART stop on the board

[EDIT: this was a wrong observation ! see below !]

See the picture:

See : Packet got: FF FF 0 FF ... (twice FF !!!!)
Sending FF in the stick values doesn't do anything harmful.
But when we send FF as packet ID, the UART reads this FF twice, then stops reading.