University-Project-Repos/HellCopTaConTrollA

A real-time kernel and interrupt-driven embedded-C program for remotely accessing and controlling the state, orientation and operation of a model helicopter. ENCE361 group project at the University of Canterbury.

ENCE361 Helicopter Rig Controller

A real-time kernel and interrupt-driven embedded-C program for remotely accessing and controlling the state, orientation and operation of a model helicopter using

• PWM motor control
• ADC sensor inputs
• quadrature decoding for rotor position tracking
• round-robin task management scheduling
• state machine logic
• multi-channel PID for stability control
• UART communication
• OLED display for real-time data
• timer-based operations
• de-bouncing for reliable input data
• infrared distance sensor for obstacle detection

A model helicopter can be controlled to perform varying operations and aerial manoeuvres, such as

• ignition, idling, vertical lift-off, hovering, landing and powering down
• ascending and descending to any altitude within a specified ground-ceiling range
• yaw rotating 360° to any referenced point in either clockwise or counter-clockwise direction

Authors

• Augustus Ellerm
• Andrew Limmer-Wood
• Adam Ross

Instructions

Requirements

• Tiva C Series TM4C123G LaunchPad 32-bit microcontroller with an ARM Cortex-M4 CPU
• Orbit BoosterPack
• Numerous excluded files for installing to a launchpad, such as OrbitOLED for the display.
• helicopter, etc.

Install

Compile using Code Composer Studio (CSS) IDE with Tivaware.