1. AR Drone Project
Andrew Liu
EE472

2. EE 472
• Embedded Systems
• Intro course in
design, development,
and test of real-time
embedded systems
• C programming
• Make Controller
– Arm 7
– FreeRTOS

3. Parrot AR Drone
• Arm 9
• Dual Cameras
– Tag Detection and speed
• Ultrasound Sensor
– Altitude
• Inertial measurement sensor
– Pitch, roll, and yaw

4. Competition
• Auto Fly
• Manual Fly
• Creativity

5. Auto Fly
• Issues
– Drone too sensitive to external
conditions for mapping
– Tag detection not always
accurate
– Need to keep drone straight
• Solutions
– Use both tags and mapping
• if([count condition] &&
[detection condition])
– Stabilize Function
• Keep Drone facing the tag

6. Manual Fly
• Issues
– Need speed and control
• Solution
– Analog Joystick Kit
• Adjust speed based on distance pressed

7. Creativity
• Drone Pong
– Use Drone as ball and tags as paddles
– IR remote start

8. Major Challenges
• Drone failures
– Two days before deadline- Crossbeam snapped
– One day before deadline- Malfunctioning
navigation board
– Day before demo- Loose motor

9. Results

10. Press

11. Conclusion
• 5th Place Finish
– Should have practiced manual flight more
• Practiced and learned
– Scheduling and priorities using FreeRTOS
– Developing and embedded applications
– Programming in C