FXUAV Senior Design II Report Group 7 Group Members Adam Kutchak Luis Brum Jamie Peck Greg Kelso Summer 2016 Sponsor: FLIR Systems Table of Contents 1 Executive Summary ..................................................................................................... 1 2 Project Description....................................................................................................... 2 2.1 Project Motivation and Goals .............................................................................. 2 2.2 Project Requirements and Specifications ............................................................ 3 2.2.1 Functional Requirements ........................................................................... 3 2.2.1.1 Quadcopter ........................................................................................... 3 2.2.1.2 Fire Extinguishing System.................................................................... 4 2.2.1.3 Image Processing and Fire Detection ................................................... 5 2.2.2 Non Functional Requirements ................................................................... 5 2.2.2.1 Quadcopter ........................................................................................... 5 2.2.2.2 Fire Extinguishing System.................................................................... 6 2.2.3 Quadcopter Specifications ......................................................................... 6 2.2.4 Fire Extinguishing Specifications .............................................................. 7 2.2.5 Realistic Constraints .................................................................................. 8 2.2.5.1 Time and Economic Restraints ............................................................. 8 2.2.5.2 Environmental and Political Constraints .............................................. 8 2.2.5.3 Ethical and Safety Constraints ............................................................. 9 2.2.6 Standards ................................................................................................. 10 2.2.6.1 IEEE Standards and Regulations ........................................................ 10 2.2.6.2 FCC Standards and Regulations ......................................................... 11 3 Research ..................................................................................................................... 13 3.1 Research of Similar Projects and Existing System ........................................... 13 3.2 Research of Possible Solutions ......................................................................... 15 3.2.1 Quadcopter .............................................................................................. 15 3.2.1.1 Frame .................................................................................................. 15 3.2.1.2 Motor .................................................................................................. 16 3.2.1.3 Propeller ............................................................................................. 18 3.2.1.4 Flight Controller ................................................................................. 18 3.2.1.5 Power Distribution .............................................................................. 19 3.2.1.6 Camera................................................................................................ 24 3.2.1.7 Image Processing ................................................................................ 29 i 3.2.1.8 Communication Interface ................................................................... 32 3.2.1.9 Microcontroller Unit ........................................................................... 37 3.2.1.10 Ground Station ................................................................................. 39 3.2.2 Fire Extinguisher ..................................................................................... 40 3.2.2.1 Concept of Design .............................................................................. 40 3.2.2.2 Contents of Extinguisher .................................................................... 43 3.2.2.3 Release System ................................................................................... 44 4 Design ........................................................................................................................ 44 4.1 Software Design ................................................................................................ 44 4.1.1 Quadcopter .............................................................................................. 44 4.1.1.1 Mission Planner .................................................................................. 44 4.1.1.2 Image Processing ................................................................................ 45 4.1.1.3 Waypoint Navigation .......................................................................... 48 4.1.2 Fire Extinguisher ..................................................................................... 51 4.1.2.1 Fire Suppression Release Function ..................................................... 51 4.1.3 Ground Control Station Development ..................................................... 52 4.1.3.1 Implementation ................................................................................... 52 4.1.3.2 High-Level System Design ................................................................. 52 4.2 Hardware Design ............................................................................................... 54 4.2.1 Quadcopter .............................................................................................. 55 4.2.1.1 Frame .................................................................................................. 55 4.2.1.2 Motor .................................................................................................. 55 4.2.1.3 Electronic Speed Controllers .............................................................. 57 4.2.1.4 Flight Control ..................................................................................... 59 4.2.1.5 Power Distribution .............................................................................. 61 4.2.1.6 GPS..................................................................................................... 63 4.2.1.7 MCU ................................................................................................... 64 4.2.1.8 Focal Length and Perceived Object Size Calculations .......................... 66 4.2.2 Fire Extinguishing Unit ........................................................................... 67 4.2.2.1 Release Function ................................................................................ 67 4.2.2.2 Dimensions ......................................................................................... 68 4.2.2.3 Capacity .............................................................................................. 69 4.2.2.4 Contents .............................................................................................. 70 4.2.2.5 PCB for the Fire Extinguisher Release ............................................... 70 4.2.3 Wireless Communication ........................................................................ 73 5 Integration and Design Summary .............................................................................. 76 6 Prototype Construction and Code .............................................................................. 77 6.1 Quadcopter Parts Acquisition and Assembly .................................................... 77 6.1.1 Frame ....................................................................................................... 77 6.1.2 Motor ....................................................................................................... 78 6.1.3 Propeller .................................................................................................. 80 6.1.4 Power Source ........................................................................................... 80 6.1.5 Flight Control and Communication Modules .......................................... 80 6.1.6 Sensors..................................................................................................... 83 6.1.7 Camera..................................................................................................... 85 6.2 Microcontroller and Flight Control ................................................................... 86 6.2.1 Flight Path Processing ............................................................................. 86 6.2.2 Sensor Processing .................................................................................... 88 6.3 Ground Control Station Development .............................................................. 90 6.3.1 Windows/Linux ....................................................................................... 90 6.3.1.1 Operational Features ............................................................................. 92 7 Prototype Testing ....................................................................................................... 92 7.1 Hardware Testing .............................................................................................. 92 7.1.1 Environment ............................................................................................ 93 7.1.1.1 Quadcopter ........................................................................................