This week, I worked with my teammates to finalize most of the mechanical and electrical design of our quadcopter. We decided to scale back slightly the scope of our design. Instead, of 3D printing a frame, we decided to buy one instead and we are no longer designing our own PCB, but rather using a breadboard instead. Power distribution will happen through an off-the-shelf PCB. I also continued to refine the Kalman Filter we are using in order to provide more stable 3-DOF measurements and began to interface with the ESC + motors to prove that we can control the motor speed through the Teensy.
I think I am a bit behind schedule. I was hoping to have proven that we can control the speed of our motors and receive high fidelity measurements from our GPS this week, but because of other work and issues with connecting to our GPS, I was not able to hit this target. As a result, this upcoming week, I hope to finalize our plan to have high fidelity control of our drone motors, get GPS measurements streaming to our teensy, and get the radio receiver working as well. This will be a long endeavor as I will have to learn about the PPM protocol and figure out how to format those packets from the teensy