QUADCOPTER CONTROL USING NI

MYRIO-1900:
ABSTRACTION:
PROJECT STATEMENT:
​Quadcopter very useful in weight lifting, media applications,
defense areas and also used in remote places where humans cannot go.
Here we are going to control quadcopter using NI myRIO hardware to
move in all three axes(x, y, z) directions. Here we use NI smart camera
to analyse objects in remote areas and we use data from NI camera for
image processing.

APPROACH:
​Mostly in defense areas we cannot get information what is
happening in risky places. Other than that we cannot analyse what are
the weapons opponents are having. By using quadcopter along with NI
myRIO hardware we can transmit data from remote locations to master
control room through WIFI module. Along with that we use NI camera
to transmit images from remote locations. So that we can analyze data
from the images and also process the image to check what weapons are
using. NI myRIO hardware is interfaced along with quadcopter and NI
camera. So that the whole doesn’t need any additional computers or
other devices to interface it. It can work individually. It is more useful
for defense, military applications and remote places such as forest,
mines where humans cannot go.

QUADCOPTER:
A quadcopter, also called a quad rotor helicopter or quad rotor is a multirotor helicopter that is lifted
and propelled by four rotors. Quadcopters are classified as rotorcraft, as opposed to fixed-wing aircraft,
because theirliftis generated by a set of rotors(vertically oriented propellers).Quadcopters generally use
two pairs of identical fixed pitched propellers; two clockwise(CW) and two counterclockwise(CCW).
These use independent variation of the speed of each rotor to achieve control. By changing the speed of
each rotor it is possible to specifically generate a desired total thrust; to locate for the Centre of thrust
both laterally and longitudinally; and to create a desired total torque, or turning force.Quadcopters
differ from conventional helicopters, which use rotors that are able to vary the pitch of their blades
dynamically as they move around the rotor hub. In the early days of flight, quadcopters (then referred to
either as 'quad rotors' or 'helicopters') were seen as possible solutions to some of the persistent
problems in vertical flight. Torque-induced control issues (as well as efficiency issues originating from
the tail rotor, which generates no useful lift) can be eliminated by counter-rotation, and the relatively
short blades are much easier to construct. A number of manned designs appeared in the 1920s and
1930s. These vehicles were among the first successful heavier-than-air vertical take off and landing
(VTOL)vehicles. However, early prototypes suffered from poor performance, and latter prototypes
required too much pilot work load, due to poor stability augmentation and limited control authority. In
the late 2000s, advances in electronics allowed the production of cheap lightweight flight controllers,
accelerometers(IMU),global positioning system and cameras. This resulted in the quadcopter
configuration becoming popular for small unmanned aerial vehicles. With their small size and
maneuverability, these quadcopters can be flown indoors as well as outdoors. At a small size,
quadcopters are cheaper and more durable than conventional helicopters due to their mechanical
simplicity. Their smaller blades are also advantageous because they possess less kinetic energy, reducing
their ability to cause damage. For small-scale quadcopters, this makes the vehicles safer for close
interaction. It is also possible to fit quadcopters with guards that enclose the rotors, further reducing the
potential for damage. However, assize increases, fixed propeller quadcopters develop disadvantages
over conventional helicopters. Increasing blade size increases their momentum. This means that
changes in blade speed take longer, which negatively impacts control. At the same time, increasing
blade size improves efficiency as it takes less energy to generate thrust by moving a large mass of air at a
slow speed than by moving a small mass of air at high speed. Therefore, increasing efficiency comes at
the cost of control. Helicopters do not experience this problem as increasing the size of the rotor disk
does not significantly impact the ability to control blade pitch. Due to their ease of construction and
control, quadcopter aircraft are frequently used as amateur model aircraft projects.

myRIO HARDWARE:
​MyRIO is areal-time embedded evaluation board made by National Instruments. It is
used to develop applications that utilize its onboard FPGA and microprocessor. It requires LabVIEW. Its
geared towards students and basic applications.[1]MyRIO Manufacturer National Instruments Available.

The National Instruments myRIO-1900 is a portable reconfigurable I/O (RIO) device that
students can use to design control, robotics, and mechatronics systems. This document contains
pinouts, connectivity information, dimensions, mounting instructions, and specifications for the NI
myRIO.

COMPONENTS:
1 NI myRIO-1900

2 myRIO Expansion Port (MXP) Breakouts (One Included in Kit)

3 Power Input Cable

4 USB Device Cable

5 USB Host Cable (Not Included in Kit)

6LEDs

7 Mini System Port (MSP) Screw-Terminal Connector

8 Audio In/Out Cables (One Included in Kit)

9 Button0 NI myRIO

SPECIFICATION AND PIN CONFIGURATION:

Xilinx Z-7010 processor 667 MHz (ARM Cortex A9 x2 cores 28 nm process NEONSIMD,
VFPv3 Vector Float)*.Memory: NV: 256 MB, DDR3 512MB, 533 MHz, 16 bits*.FPGA type same as
processor*.Wireless: IEEE 802.11 b,g,n ISM 2.4 GHz 20 MHz*.USB 2.0 Hi-Speed*.Breakout Board
support*.2 ports of 16 Digital I/O lines*.3 axis accelerometer*.Max power consumption : 14 W*.Typical
idle : 2.6 W*.LED's

NI myRIO-1900 Expansion Port (MXP) connectors A and B carry identical sets of signals.
The signals are distinguished in software by the connector name, as in Connector A/DIO1 and Connector
B/DIO1. Refer to the software documentation for information about configuring and using signals. The
following figure and table show the signals on MXP connectors A and B. Note that some pins carry
secondary functions as well as primary functions.
CONNECTION DIAGRAM:
HARDWARE OVERVIEW:
The NI myRIO-1900 provides analog input (AI), analog output (AO), digital input
and output (DIO), audio, and power output in a compact embedded device. The NI myRIO-1900
connects to a host computer over USB and wireless 802.11b,g,n.
The following figure shows the arrangement and functions of NI myRIO-1900
components. Figure shows NI myRIO-1900 Hardware Block Diagram.

ANALOG INPUT CHANNELS:

The NI myRIO-1900 has analog input channels on myRIO Expansion Port
(MXP) connectors A and B, Mini System Port (MSP) connector C, and a stereo audio input
connector. The analog inputs are multiplexed to a single analog-to-digital converter (ADC) that
samples all channels.
MXP connectors A and B have four single-ended analog input channels per connector, AI0-AI3,
which you can use to measure 0-5 V signals. MSP connector C has two high-impedance,
differential analog input channels, AI0 and AI1, which you can use to measure signals up to ±10
V. The audio inputs are left and right stereo line-level inputs with a ±2.5 V full-scale range.

ANALOG INPUT CHANNELS:

The NI myRIO-1900 has analog output channels on myRIO Expansion Port
(MXP) connectors A and B, Mini System Port (MSP) connector C, and a stereo audio output
connector. Each analog output channel has a dedicated digital-to-analog converter (DAC), so
they can all update simultaneously. The DACs for the analog output channels are controlled by
two serial communication buses from the FPGA. MXP connectors A and B share one bus, and
MSP connector C and the audio outputs share a second bus. Therefore, the maximum update
rate is specified as an aggregate figure in the Analog Output section of the Specifications.
MXP connectors A and B have two analog output channels per connector, AO0 and AO1, which
you can use to generate 0-5 V signals. MSP connector C has two analog output channels, AO0
and AO1, which you can use to generate signals up to ±10 V. The audio outputs are left and
right stereo line-level outputs capable of driving headphones.

WIFI MODULE:
The ESP8266 is a low-cost Wi-Fi chip with full TCP/IP stack and MCU (microcontroller
unit)capability produced by Shanghai-based Chinese manufacturer, Express if Systems.[1]ESP8266ESP-01
module Manufacturer Express if Type Microcontroller CPU@ 80 MHz (default) or 160 MHz Memory64
KB instruction, 96 KB dataInput16 GPIO pins. Power3.3 VDC. The chip first came to the attention of
western makers in August 2014 with the ESP-01 module, made by a third-party manufacturer,
AI-Thinker. This small module allows microcontrollers to connect to a Wi-Fi network and make simple
TCP/IP connections using Hayes-style commands. However, at the time there was almost no
English-language documentation on the chip and the commands it accepted.[2]The very low price and
the fact that there were very few external components on the module which suggested that it could
eventually be very inexpensive in volume, attracted many hackers to explore the module, chip, and the
software on it, as well as to translate the Chinese documentation.[3]TheESP8285is an ESP8266 with 1
MB of built-in flash, allowing for single-chip devices capable of connecting to Wi-Fi.[4]The successor to
these microcontroller chips is theESP32.FeaturesESP-01 wireframe.*.32-bitRISCCPU:TensilicaXtensa
L106 running at 80MHz**.64 KB of instruction RAM, 96 KB of data RAM*.External QSPI flash: 512 KB to 4
MB* (up to 16 MB is supported)*.IEEE 802.11b/g/n Wi-Fi*.Integrated TR switch, balun, LNA, power
amplifier and matching network*.WEP or WPA/WPA2authentication, or open
networks*.16GPIOpins*.SPI*.I²C*.I²Sinterfaces with DMA (sharing pinswith GPIO)*.UART on dedicated
pins, plus a transmit-only UART can be enabled on GPIO2*.10-bitADC(this is a Successive Approximation
ADC)* Both the CPU and flash clock speeds can be doubled by overclocking on some devices. CPU can be
run at 160 MHz and flash can be sped up from 40 MHz to 80 MHz[citation needed]Success varies chip to
chip.[citation needed]SDKsIn late October 2014, Espressif released a software development kit(SDK) that
allowed the chip to be programmed, removing the need for a separate microcontroller.[5]Since then,
there have been many official SDK releases from Espressif; Espressif maintains two versions of the SDK
— one that is based on Free RTOS and the other based on callbacks.[6]An alternative to Espressif's
official SDK is the open source ESP-Open-SDK[7]that is based on the GCC tool chain. ESP8266 uses the
Cadence Tensilica L106 microcontroller and the GCC toolchain is open-sourced and maintained by Max
Filippov.[8]Another alternative is the "Unofficial Development Kit" by Mikhail Grigorev.[9][10]Open
source SDKs include:*.Node MCU— A Lua-based firmware.*.Arduino— A C++ based firmware. This core
enables the ESP8266 CPU and its Wi-Fi components to be programmed like any other Arduino device.
The ESP8266 Arduino Core is available through GitHub.*.Micro Python— A port of Micro Python(an
implementation of Python for embedded devices) to the ESP8266 platform.*.ESP8266 BASIC— An open
source basic interpreter specifically tailored for the internet of things. Self hosting browser based
development environment.*.Zbasic for ESP8266— A subset of Microsoft's widely used Visual Basic 6
which has been adapted as a control language for the ZX microcontroller family and the
ESP8266.*.Espruino— An actively maintained JavaScript SDK and firmware, closely emulating Node.js.
Supports a few MCUs, including the ESP8266.*.Mongoose Firmware— An open source firmware with
complimentary cloud service.[11]*.ESP-Open-SDK— Free and open (as much as possible) integrated SDK
for ESP8266/ESP8285chips.*.ESP-Open-RTOS— Open source Free RTOS-based ESP8266 software
framework. Espressif modules. This is the series of ESP8266-based modules made by Espressif. Name
Active pins Pitch Form factor LEDs Antenna Shielded? Dimensions (mm)NotesESP-WROOM-02[12]180.1
in2×9 DIL No PCB traceYes18 × 20FCC ID 2AC7Z-ESPWROOM02In the table above (and the two tables
which follow), "Active pins" include the GPIO and ADC pins with which you can attach external devices
to the ESP8266 MCU. The "Pitch" is the space between pins on the ESP8266 module, which is important
to know if you are going to breadboard the device. The "Form factor" also describes the module
packaging as "2 × 9 DIL", meaning two rows of 9 pins arranged "Dual In Line", like the pins of DIP ICs.
Many ESP-xx modules include a small on-board LED which can be programmed to blink and thereby
indicate activity. There are several antenna options for ESP-xx boards including a trace antenna, an
on-board ceramic antenna, and an external connector which allows you to attach an external Wi-Fi
antenna. Since Wi-Fi communications generates a lot of RFI (Radio Frequency Interference),
governmental bodies like the FCC like shielded electronics to minimize interference with other devices.
Some of the ESP-xx modules come housed within a metal box with an FCC seal of approval stamped on
it. First and second world markets will likely demand FCC approval and shielded Wi-Fi devices.

GSM MODULE:
GSM/GPRS Module - SM5100BCEL-09533RoHS15. Descriptions: The SM5100B is a
miniature, quad-band GSM 850/EGSM 900/DCS 1800/PCS 1900module, which can be integrated into a
great number of wireless projects. You can use this module to accomplish almost anything a normal cell
phone can - SMS text messages, GSM/GPRS, TCP/IP, and more! This module features two UARTS, an SPI
interface, and two 10-bit ADCs. It also supports Li-ion battery charging, a 4x6 keypad, and an LCD
interface. Inputs/outputs are available for a speaker and microphone. An antenna does come attached
to the module. Power supplied to the module should be regulated between 3.3-4.2VDC (3.6V
nominal).You can connect it up to a mating 60-pin, surface mount connector, or you can pair this
module with ourSM5100B evaluation board. There is no SIM socket on the actual cell module, you might
want to consider using our SIM card breakout board. Features:*.Temperature range: -10-55°C
(operating), -40-85°C (storage)*.Connection: 60 pins, mating connector sold separately*.Power Supply:
VBAT: 3.3V to 4.2V range, 3.6V typical*.Power Consumption:*.Off mode: <100uA*.Sleep mode:
<2.0mA*.Idle mode: <7.0mA (average)*.Communication mode: 350 mA (average,
GSM)*.Communication mode: 2A (Typical peak during TX slot, GSM)*.Frequency Bands:
EGSM900+GSM850+ DCS1800+PCS1900*.Transmit Power:*.Class 4 (2W) for EGSM900/GSM850*.Class 1
(1W) for DCS1800/PCS1900*.Supported SIM card: 3V/1.8V SIM card. (auto recognize)*.4x6 keyboard

interface available*.UART0 interface with flow control, up to 460kbps*.UART1 interface without flow
control, two-wire interface, up to 460kbps*.LCD interface available, over SPI Dimensions:*.35.0 x 39.0 x
2.9mm*.Weight: <9gDocuments:*.Users Manual*.Hardware Specification*.Reference Schematics*.SMS
Application Notes*.GPRS Application Notes*.AT Command Set*.Arduino Tutorial

IMAGE PROCESSING:
 In imaging science, image processing is processing of images using mathematical
operations by using any form of signal processing for which the input is an image, a series of images, or a
video, such as a photograph or video frame; the output of image processing may be either an image or a
set of characteristics or parameters related to the image. Most image-processing techniques involve
isolating the individual color planes of an image and treating them as two a dimensional signal and
applying standard signal-processing techniques to them. Images are also processed as three prime signal
signals with the third-dimension being time or the z-axis. Image processing usually refers to digital image
processing, but optical and analog image processing also are possible. This article is about general
techniques that apply to all of them. The acquisition of images (producing the input image in the first
place) is referred to as imaging. Closely related to image processing are computer graphics and
computer vision. In computer graphics, images are manually made from physical models of objects,
environments, and lighting, instead of being acquired (via imaging devices such as cameras) from natural
scenes, as in most animated movies. Computer vision, on the other hand, is often considered high-level
image processing out of which a machine/computer/software intends to decipher the physical contents
of an image or a sequence of images (e.g., videos or 3D full-body magnetic resonance scans).In modern
sciences and technologies, images also gain much broader scopes due to the ever growing importance
of scientific visualization(of often large-scale complex scientific/experimental data). Examples include
microarray data in genetic research, or real-time multi-asset portfolio trading in finance. Microscope
image processing specializes in the processing of images obtained by microscope.