1.4
Current Project Status
1
INTRODUCTION
This creates a universal understanding a commitment to the project while re-
moving territorial hoarding. There is no ”my work”, only ”our work”.
1.4
Current Project Status
As of this writing, we still have work to do in order to achieve stable au-
tonomous hover. We are in the process of testing the thrust torque test stand,
and verifying all electrical circuits on the quadrotor. Once that is complete we
will be able to write the three control loop blocks, as described in detail in the
Anzhelka mathematics document [3]. It is estimated that these blocks will be
able to run at up to 300Hz (section 4.2). For the project schedule, see subsection
10.1.
1.5
Background and Prior Art
There are many different quadrotor designs available, but relatively few open
source quadrotors. The most noticeable are the AeroQuad ([16]) and the Ar-
ducopter ([17]). Most quadrotor theory seems to be the product of research labs
such as [4]. This project is different in that it uses the Parallax propeller as it’s
processor and it is very well documented from the beginning.
1.6
Development Environment and Tools
The Anzhelka project software was developed for the most part using a Linux
system. All code and other project files are hosted on the project Git repository
([1]). The code was written in Gedit, compiled and downloaded with the
BSTC
compiler, and interfaced with using
picocom
.
1.6.1
Directory Structure
The project uses the following directory structure:
/ h a r d w a r e
/ f r a m e
/ pcb
/ s o f t w a r e
/ s p i n
/ src
/ lib
/ t e s t
/ t o o l
/ c o n f i g
/ j a v a
/ src
/ lib
/ t e s t
/ t o o l
8
