Rough Note:

Sensors:

GPS - TBS NEO8M,

IMPORTANT: Update the AAT_LONG and AAT_LAT values to the tracking antennas current longitude/latitude

Library we’ll be using: TinyGPS++, SoftwareSerial, NeoGPS GitHub - SlashDevin/NeoGPS: NMEA and ublox GPS parser for Arduino, configurable to use as few as 10 bytes of RAM

IMU- BMX160,

Library we’ll be using: Curie IMU Library

https://docs.arduino.cc/retired/archived-libraries/CurieIMU

Actuator:

XBee/ RFD900(talking to the ground station, so the ground station laptop needs to forward the drone gps data to tracking antenna)

Library we’ll be using: XBee Arduino Library https://www.arduino.cc/reference/en/libraries/xbee-arduino-library/

Servo/Motors

Library we’ll be using: Basic servo library.

https://docs.arduino.cc/learn/electronics/servo-motors

Requirement for the Arduino Board:

At least it needs to have:

2 uarts, 1 I2C port, two pwm channels

-Arduino UNO has one hardware uart port, thus we’ll be using arduino Mega that’s sitting in our bay. This device has 3 UART ports.

Algorithm: Using trig https://github.com/Dronolab/antenna-tracking/blob/master/Control/antennaControl.py

https://community.esri.com/t5/coordinate-reference-systems-blog/distance-on-a-sphere-the-haversine-formula/ba-p/902128 (Used to calculate distance between drone and ground station → Later used to calculate pitch rotation)

Formula to Find Bearing or Heading angle between two points: Latitude Longitude (Used to calculate the yaw rotation)

Open

23.02.14 Note: Formal Doc (Currently just template, will be updated soon)

 Problem Statement

• Use Arduino to implement a tracking algorithm to use drone and ground station GPS data to calculate the yaw/pitch rotation of two servo motors.

 Scope

Tasks Break Down:

 Timeline

Design

Coding

Testing

Design Non-Volitile Storage Arch

Review

Implement

Test Driver

Test Interface

 Implementation Details

 Actions Items

 Milestones and deadlines

Open Questions

• What is the performance & reliability of SDMMC versus SPI?

 Reference materials