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Registered Member #1062
Joined: Tue Oct 16 2007, 02:01AM
Location:
Posts: 1529
I am planning a autonomous helicopter, and would like some insight into the circuit architecture. The helicopter has to process data from 9 sensors plus a GPS with kalman filters and generic processing. Some basic image processing will also be included, so I would like to come up with a circut with low latency, as a slow instruction could easily cause a crash when controlling a single rotor CCPM helicopter. This is my current plan: *by Raw Data Processing I mean GPS string parsing, converting sensor raw data into g's, and degrees/second for the gyros. How does this look?
Registered Member #902
Joined: Sun Jul 15 2007, 08:17PM
Location: North Texas
Posts: 1040
having a separate unit for "raw data processing" is a very good way to help cope with issues of computation latency when many sensors and a lot of math is in question, but you have to make sure the communication is well set up because if it has an error then your CPU has no information whatsoever rather than one comm line taking off one sensor. I used a "Dual Core" Microcontroller rig (dual ATMEGA168's) communicating via I2C for my much more advanced High Speed Photography rig. I had one of the "Cores" process the sensor data and the other provide a real time status of the sensors, thresholds, values, and full user input and control using an LCD with keypad
what are you planning to use for the main processor and the raw data processor?
Also, IIRC you can get accelerometers etc that put the data in an easy to use format over serial (I2C?) and if setup right the microcontroller can support multiple devices simultaneously.
Registered Member #1062
Joined: Tue Oct 16 2007, 02:01AM
Location:
Posts: 1529
For the MCU, I am going to start with a mbed (96mhz): That is a start, it will probably get very frustrating with out debugging though I have not decided on a DSP (have a suggestion?). Going along with your failure things, I may have 9 separate, smaller, DSP's, so if one goes offline, I still have the others (A goal is to still be able to fly with a loss of a sensor by creating ideal relations). The compass module has a direct I2C output, so that will actually probably be a direct connection. The rest are analog.
The CPU will be the master of that subsystem, but the true master computer will be a ground station with a laptop, but I need on board processing because of the mentioned latency issue.
EDIT: I was thinking, How would a system were the signal processor and motor controller were replaced by the mbed I linked to, and the master CPU, which could also handle the math, is a beagleboard? The bagleboard's DSP is supposed to be for digital media, but would I still be able to use this for mathematical operations?
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Autonomous Helicopter
