Hacking and controlling toy flyersMid-term presentation

Student :Frédéric Blanc

Assistant :Rico Möckel

Professor :Auke Jan Ijspeert

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Motivations

• Personal motivations

Electronic, mechanic and programming project

PCB design

Working on Flapping flyer

• Global motivation

Hacking vs designing complete flyers

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Outline

• Flyer’s description

• Possible improvement

• Mechanical constraints

• Global schematic

• Future works

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Flyer’s description

Two degrees of freedom:

Yaw control Thrust control

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Possible improvement

• Increase the number of DOFAdditional propeller for pitch control

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Possible improvement

• Extend time of flightAdditional battery

• Stabilisation (Hovering)New sensors (accelerometers, gyroscope, magnetometer)

• Complete autonomous controlOut of the field of this project but still possible with a

camera and optic flow algorithms

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Mechanical constraints

• Air vehicles implies light embodimentTotal weight of the original dragonfly : 22 g

• Light embodiment implies small PCB Limited in the choice of components

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Global schematic

Bluetooth Module

H-Bridges

3-Axis Accelerometer

3-Axis Gyroscope

3-Axis Magnetometer

Batteries

Power converter

DsPicI2C

UART

PWMMotors

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Future work

Layout of the PCB Soldering Programming Test

Placing components

Routing

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Future work

Layout of the PCB Soldering Programming Test

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Future work

Layout of the PCB Soldering Programming Test

Main steps :

Motor control

Communication with digital sensors (I2C)

Communication with the bluetooth module (UART)

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Future work

Layout of the PCB Soldering Programming Test

Mechanical tests

Programming tests

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Future work

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Thanks for you attention !