Bio-Inspired Micro Air Vehicle: Design and Control Issues

[Siver]

Hi,

I would like to get some recommendation and suggestion on a project I'm working on for Bio-Inspired Micro Air Vehicle at Georgia Tech. The main idea of the project is to fly a MAV in a form insect, Dragonfly. Regardless of how the wing, the mechanism, and the dynamic air flow plays out, it is not my concern, department of AE and ME in charge of that. As ECE, I am responsible for the Autopilot that will drive and control Dragonfly from the point it take off, in the mid air, and when it lands. In addition, other feature that it will have is send live video feedback to the computer at quality of VGA at 30fps. Obviously, we going to be using wireless communication link between (perhaps supports an air data rate of up to 2 Mbps.). Here is more specification that is detailed of the finished design... 

Specications           Requirements          Details
Size                            < 15.24cm (6 in)       Maximum dimension
Weight                       ~100 g                        Objective GTOW
Range                        1 to 10 Km                Operational Range
Endurance               60 min                        Loiter time or station
Altitude                      < 150 m                      Operational ceiling
Speed                        15 m/s                        Maximum fight time
Payload                     20 g                            Mission dependent
Cost                           $1500                       Maximum cost

So now having a bit knowledge and requirement of our MAV project, what embedded microcontroller and processor will be best to meet these specification. We are looking for two main criteria size and power consumption. Right now Overo^TM Fire COM (ARM based processor) by Gumstix is the only one I have in mind it is applicable for this project. What is your take on Overo Fire Com? Is it easy to program? I have never used Overo Fire Com before, and I believe they use OpenEmbedded to program it. Can I use LabView to program it? I rather use LabView because I am familiar with the environment when last semester I used it to program Single-Board RIO with LabView. C/C++ I don't mind either, it's fairly simple. So if you know an embedded microprocessor that is more competitors to Overo Fire Com, and easy to program please let me know. And if I can use LabView (perhaps LabView Microprocessor SDK module) to program your suggested embedded microprocessor or my suggested one Overo Fire Com that would be a plus. 

Thanks

~Siver Salih

[Stephen_S.]

Hi Siver,

I am not familiar with the Overo Fire, but you should take a look at this page on ARM Devices Supported by LabVIEW, which outlines Tier 1 devices and Tier 2 devices. Tier 1 devices are evaluation boards that provide an out-of-the-box LabVIEW programming experience. Tier 2 boards, which are listed in the device database linked in the Tier 2 section of that link, require porting (building your own driver, palettes, etc.), the guide for which is also linked.

However, unless I am missing something, it looks like the board you are looking at is not in either of these categories, which means that it is not a supported ARM target. The only way to work with this is by using the Microprocessor SDK module, however, this module requires that you first discuss with our R&D department to make sure that you have the necessary background in advanced low-level programming to be able to be successful with this module. If you are interested in this module, you can contact a sales representative by calling (888) 280-7645.

As for other options, you can use the document I linked to select another board that is supported, or you can take a look at other options that are outside of the LabVIEW Embedded choices such as RIO.

Regards,

Stephen S.

[Siver]

Hi Stephen,

Thanks for the link you provided. I belive you are right, the processor for Overo Fire Com is ARM Cortex-A8 which is different from Tier 1 and Tier 2 which are Cortex-M0, Cortex-M1 (Altera), Cortex-M3 from ARM7/ARM9/Cortex Family. So as I imagined I would need to use Microprocessor SDK to program Overo, but what do people usually use to program it? I'm hoping its like C programming. I can do Assembly and VHDL but I don't want to go down to that low level due to our time constraint (~3 months). In that case OpenEmbedded environment by Gumstix is easier. I belive they use C programming (I still have to confirm this). In meantime im going to do some more research, especially on the link you provided.

I'll still be around and open for any suggestion.

Thanks 

~Siver

[YogeshaYS]

Hi Siver,

Sorry for askin a basic question to you, Is it possible to programm a freescale controller form labview as we do it using Freescale code-warrior or any other IDEs.

Thanks,

Yogesh 

[Siver]

Hi YogeshaYS,

I haven't used freescale controller and I'm not much aware of it, but from what I found

http://www.google.com/url?sa=t&source=web&ct=res&cd=1&ved=0CBkQFjAA&url=http%3A%2%2Fwww.freescale.co...

I belive you can use LabView, its just that beside LabView, you would have to get the addon FPGA module,  Real-Time module, Microprocesso SDK module, Embedded Module depend on type of application you are doing.

Last semester in our project, beside using LabView Development Kit, we had to use Real-Time module and FPGA module to program Single-Board RIO (our application was real-time DSP) which since its NI embedded device you could easily target it (no need for Microprocessor SDK modulation or Embedded Module). However in my case using Overo Fire Com (computer-on-module) and maybe in your case using Freescale controller, we can't target it through LabView FPGA or LabView Real-Time and use G-programming to program it (atleast I am not aware of it yet). Instead we have to use Microprossor SDK (according to this Release Note by http://www.ni.com/pdf/manuals/371439d.pdf) to target it, which support most processor such as PowerPC, ARM, TI C6x, and x86, and ColdFire, ADI Blackfin to program it. Though you would need to select an appropriate target to start when you port LabVIEW to a new embedded target. What appropriate target you might ask? According to the Release Note by NI (http://www.ni.com/pdf/manuals/371439d.pdf), "Use the target that is closest to your target and toolchain. For example, if you are using a GNU C/C++-based (gcc) toolchain, consider using an eCos target." 

Also if your processor are from ARM7, ARM9, and Cortex-M3 based devices you can use another module called LabVIEW Embedded Module. Perhap this more help to you http://zone.ni.com/reference/en-XX/help/372197A-01/edmport/extarg_cf/

~Siver

[Siver]

One more thig, you could also try other IDE such Code Composer Studio v4.X and as well as Visual Studio Embedded Platform Builder.

[YogeshaYS]

Hi Siver,

Thanks for the reply, i could not open the google link you posted, can you send it again to yogeshys@yahoo.co.in or here 

Thanks and regards,

Yogesh 

[Siver]

Hi YogeshaYS,

Here is the google link I found, it doesn't really tell you how to target Freescale MCU with LabView but rather its a proof that it can be done. Your best bet probably read more about Labview Microprocessor SDK and Labview Embedded Module. That's what I'm doing right now, if I find anything I'll let you know. Also a friend suggested use other IDE such Code Composer Studio from T.I.

http://www.google.com/url?sa=t&source=web&ct=res&cd=1&ved=0CBUQFjAA&url=http%3A%2F%2Fwww.freescale.c...