Agenda

Table of Contents

Choosing the hardware (fma/lan/apo)

Choosing between Crazyflie or an alternative (i.e. FlameWheel F450 + Arduino board) --> Probably (most likely the FlameWheel F450!)
Determined the scope of working with the FlameWheel:
- What can the Arduino do? SCCharts on Arduino? Might be a whole topic for a thesis
- Is the Arduino strong enough (clockwise)
- We will have to create a whole Flight Control (But there are presumably enough tutorials on the internet)
- In General: Check existing projects (of Arduino-Copters and similar things)
- Planning and Constructing of the Copter is not its own topic of a thesis
- We still have to settle on concrete sensors
Estimate of prices important for our proposals
If things go wrong, always stay in contact with ssm/cmot! If there is really no solution, "it doesn't work" is also a conclusion for our theses

Stash, Confluence (lpe/ssm)

We need our own repository in the Stash
How does the Build work? Not necessarily important for us, since we for the most time wont work on the main branch (or on KIELER)
How does Confluence work for us? We needed our own page and working rights (–> Solved as of April 24th)
We need to uploads protocols and documentation

How will we allocate the different topics of the proposals? And what exactly will we need?
- Price & Time estimation
- Constructing the Copter (Skeletton, Sensors - Distance, Positioning, Gyroscope - Microcontroller - Arduino?)
- How to control sensors and actors
  - All of this probably in cooperation of all of us
- SCCharts-Connection
- Flying/Hovering (SCCharts)
- Simulation
- Flight: Reading and Interpreting sensors and act accordingly
- Safety: Collision control, what to do when the battery is low, when systems fail, etc.
- Flying from a to b (Pathfinding, etc.) --> How does the Computer know what a and b are?
Simulation is very important!
Handing in until April 29th necessary? --> But probably a first draft until then

frame
- Buy complete frame or 3d-print one? CAD data available online (Rose Hulman Beagle Bone Quadcopter)
- Many libraries for stabilization available online (bachelor topics still okay?)
- estimating 170€ including motors and rotors
positioning
- triangulation
  - - triangulation means no real autonomy
- pulse generators as "checkpoints"
  - possible?
  - how accurate? where to fly
- QUESTION: What shall the quadcopter do?
- > CHOICE: accelerometer & gyroscope for position
  - might review after first tries, if accurate enough

board
- Arduino Due
  - power consumption not available
- Beagle Bone Black
  - Beagle Bone perhaps more extendable in the future
  - power consumption may be too much
- maybe use an existing Arduino to upgrade later
- estimating up to 60€
batteries
- power consumption not available
- two batteries for each, the motor and the microcontroller
- estimating 50€
Gyroscope, Accelerometer, Compass
- estimating 20€
i2cbus
- Beagle Bone Black has three i2cbusse
proximity sensors
- min. 3 ultrasonic sensors, better: 6 depending on costs
- cheap copy from china 2$, quality product 30$
telemetry
- estimating 30$

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All together: ca. 350€