Development of a Programmable System on Chip(Psoc) based Quadcopter

Abstract

Aerial robotics is an area of rapidly growing research mainly because of the optimality and versatility of vertical take-off and landing (VTOL) vehicles such as quadcopters. Quadcopters can easily be termed as the most complicated unmanned aerial vehicles (UAVs) to be ever designed. The most common type of control technique that is used in most of the literature available is PID control technique. State feedback technique is an area which is less explored for designing a controller for quadcopters. The MCU architecture that is being used to implement the controller digitally is PSoC6. PSOC 6 has a dual core processor, and hence it is capable of data sampling and processing at the same time. PSOC 6 also being very power efficient, it will increase battery life or flight time. Since it has been planned to use Bluetooth Low Energy (BLE) technology for communication between the quad copter and the remote control, the energy consumption is reduced furthermore. This project focuses on implementation of Quadcopter which is capable of self-sustained flight via BLE using PSOC6 BLE Microcontroller with BLE version 5.0.The system consists of MPU9250 IMU (Inertial Measurement Unit) which consists of an accelerometer, gyroscope and a magnetometer to determine the system orientation and speed control of four Coreless Brushed motors to enable the quadcopter fly in all 6 directions. The accelerometer and the gyroscope components use SPI interface to send the amount of acceleration, stabilization and the direction vector to the microcontroller. Pitch, roll and yaw values are obtained, and a suitable controller is designed to stabilize the system response. A joystick controller is used for sending control signals to the quadcopter via BLE. The working and performance of the quadcopter is tested, and desired outputs are obtained