Plan of Action
International Aerial Robotics Competition
Level 1 competition
Navigation up to 3 km
MicroCART is a long-term ongoing project
Complete the requirements for IARC Level 1
Produce an autonomous helicopter
Development of a Simulink model of the system
Test system hardware and software
The aircraft should be fully autonomous
The aircraft should operate without tethers
The aircraft should be capable of autonomous
hover at a GPS point
The aircraft should be able to relay state
information to a ground station
The aircraft should be able to receive GPS
waypoints from a ground station
The aircraft should be able to be manually
controlled by an operator
The helicopter is not designed for flight in rain,
snow, or high wind conditions
Mathematical model should be accurate
Model should take into account flapping and
Model should take into account external forces
Virtual Reality Simulation from model
Model should be user friendly
Non-linear state space equation and
Matlab/ Simulink to develop the model of the
C code generation based on the model
Validation and implementation using X-plane
Estimation of the hovering equilibrium points
Finding parameters for stable hovering
Simulation of the helicopter’s behavior
Valuable testing tool
Continue with the development of the
Simulink model initiated this semester
Improve existing code
Updates from GPS are available every second.
Software needs to be able to interpolate
between seconds and guess instantaneous
position/speed more accurately.
Add code to know when GPS data is reliable.
Add code to convert location info to X-Y
coordinates with a relative starting position.
Get altitude data from GPS.
Need to use control constants from modeling
simulation to control the aircraft.
Add code to flight control software to make use
of all available sensors (not just IMU).
Use filtered output from sensors.
Test PID values.
Need to locate an experienced RC helicopter
pilot for live flight testing.
Test craft’s capability to hover in one position.
Test for ability to fly from waypoint to
waypoint, starting with helicopter at altitude.
Test for stability while in flight.
Compare simulated data to actual data.
Test sensor data to look for electrical noise
Test cable routing to make sure no damage can