Overview of Status of Analysis, Design, Fabrication, Tests, etc.
A major miscommunication issue:
The IMU soldered onto the PCB is MPU6500(SMD), which has accelerometer and gyroscope.
However, the IMU used for prototyping on the breadboard is MinIMU-9(external chip), which has accelerometer, gyroscope, AND compass.
The software has been developed while assuming compass information is available.
Solution?
Too late to design, order, and build another PCB in time for Final Design Review.
Instead, I scrapped off the insulator layer on the SCL and SDA via, and solder jumper wires onto them. It works! But we have to be careful not to break it.
Accomplishments from Week 9
Hardware
Completed PCB. Very clean signals can be seen from the PCB circuitry. A lot more reliable than the breadboard.
I built 3 variations of PCB, and was able to verify which circuitry configuration is the best.
Concluded that 3 photodiodes are better 5 photodiodes
Concluded that we should not modify the original circuitry at all
Software
Kalman Filter done?
Agenda for Week 10
Hardware
retrofit the MinIMU board onto our main PCB
Make wires that have the correct length --> Assemble PCB and photodiode mount onto drone frame
Software
Sponsor Comments from Final Design Review
The measurement is very accurate and a lot less noisy than previous localization attempts.
The module is working at angles that are much more extreme than the actual need.
Risks and Areas of Concern
Hardware
SCL and SDA jumper wire cannot be pulled too hard, or the solder can break.
Software
The signal handling algorithm can work with signals from 1 photodiode, but cannot deal with 3 photodiodes yet.
Cannot determine the process variation for Kalman filtering
Budget (list amount spent and amount remaining)
Progress on Report and Webpage
Report (except performance) due Friday
Team Page due Friday
Report Amendments due Sunday
Poster due Sunday