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Overview

Hermes is designed to function as the base flight control system responsible for guidance, navigation and control of a fixed-wing UAV - but general enough for most other vehicles.

Aims

  • Design a complete flight control system from scratch (hardware, software, control systems, navigation algorithms, ground control station, etc..)
  • Goal: Complete system consisting of standardised hardware and basic but robust software framework.
  • Focus on developing and testing novel algorithms - not writing low-level code!

Hardware Requirements

  • Standard set of sensors (e.g. IMU, barometer & airspeed sensor)
  • Expansion and interface capabilities via various IOs.
  • Power distribution for servos.
  • Processing power.
  • Affordability!

Hardware Specification

Bill of Materials

S/NComponentQtyDescriptionUnit Price (CAD)Price (CAD)
1RP20402Flight Control Computer: Main MCU for polling IMU and Radio PPM for control loop
Navigation Computer: Secondary MCU handling onboard guidance & navigation algorithms + extras
$1.45$2.90
2Invensense MPU605016DOF MEMS IMU (Gyroscope + Accelerometer)$3.50$3.50
3NXP MPL3115A21Absolute pressure sensor with an I²C digital interface$3.50$3.50

Datasheets

  • RP2040
    • Dual ARM Cortex-M0+ @ 133MHz
  • MPU6050
    • 6-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, and a Digital Motion Processor™ (DMP)
  • MPL3115A2
    • I²C precision pressure sensor with altimetry

Block Diagram

Hermes Block Diagram

Next Steps

A list of a few things to complete:

  • [100%] Telemetry and messaging protocol.
  • [100%] Aircraft modelling, control system design and implementation.
  • [100%] Higher-level firmware (state machine, guidance algorithms, etc.)
  • [100%] Low-level firmware (e.g. device drivers and interfaces).
  • [100%] State Estimation (Madgwick & Kalman filters).
  • [100%] Ground control station.



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