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1. 32 Solid 33 Communication with external screen android 34 rrr 34 This is not needed after the change of Microcontroller which has internal USB 34 REVISIONS 34 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE RESEARCH Issue date 22 05 2012 REV1 0 Version 1 0 Page 4 of 34 1 LIST OF TABLES Table 1 Abbreviationu Gardene 5 Table 2 Hardware research 1 5 Table 3 Option 6 1 eL 5 4 1 2 E eg 6 Table 5 Hardware research 17 Table 6 ROVS S senres n M 34 2 SCOPE This document will contain detailed information about the choices of components we make during the project 3 PURPOSE We made this document to get a complete overview over the current and faulted components The overview contains information about why we chose the components what they do positive negative aspects time spent and which component the new one replaces The purpose is to show and explain why we chose a specific component over another one that has the same functionality Thi
2. 15 Table 13 Description of responsible 16 Table 14 Actual list of responsibilities 16 Table 15 List of document 18 2 LIST OF FIGURES Figure 1 The spiral model eee teria tt EU te a Xa ERR 6 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 4 of 18 3 ABBREVIATION Technical Term Standard Definition K M Kjetil Mj s A G Axel Gravningsbraten S A Sindre Andersen T A Thomas Andersen R L Runar Leken O R Ole Riiser Internal Measurement Card is an electronic device that measures and reports on the aircraft s velocity orientation and gravitational IMC IMU forces using a combination of accelerometers and gyroscopes MTBF Mean Time Between Failures MCC Main Controller Card SC Supervision Card Table 1 Abbreviation list 4 REFERENCES 1 http Awww equatoraircraft com Contractor history Table 2 Reference list 5 PURPOSE The purpose of this document is to have a project plan to work after The document also contains information regarding time deadlines definitions and responsibilities The main goal
3. 13 9 1 1 1 Cards for BIGPIC5 development systems 13 9 1 1 2 18 6520 8520 6620 8620 6720 8720 nennen 13 9 1 1 3 LM78LXX Series 3 Terminal Positive 13 9 1 1 4 A4988 Datasheet oe RR tveiten 13 9 1 1 5 DS19B20 teMp SONSOM eerte e SERE xn tern 13 9 2 EE 13 9 2 1 1 13 Accelerometer datasheet http www sparkfun com datasheets Sensors Accelerometer ADXL345 pdf 13 Gyro datasheet http www sparkfun com datasheets Sensors Gyro PS ITG 3200 00 01 4 pdf 13 Magnetometer 14 http dinmh9ip6v2uc cloudfront net datasheets Sensors Magneto HMC5883L FDS p0f 14 Author HoneyWell Copyright 2010 14 L st Read 13 02 20 2 ccc aa dad VERS ORAT 14 EE EE EE EE n 14 10 5 5 14 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012
4. 4 4 3 6 4 4 6 4 5 2 7 4 6 deje EA TO 8 4 7 Control 9 5 REVISIONS 10 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Test Results Issue date 29 05 2012 Version 1 0 Page 3 of 10 1 SCOPE The scope of this document is to describe the result of the requirement tests 2 RESULT DESCRIPTION Technical Term Standard Definition gt N T Not Tested due to the lack of ability to do an SAT The test was successful and the system passed the Passed test Failed The test was successful but the system failed the test 3 ABBREVIATION Technical Term Standard Definition K M Kjetil Mjos A G Axel Gravningsbr ten S A Sindre Andersen T A Thomas Andersen R L Runar L ken Ole Riiser Inertial Measurement Card is an electronic device that measures and reports on the aircraft s orientation and gravitational forces usin
5. Version 1 0 Page 3 of 14 1 PURPOSE The purpose of this document is to learn how our system works and go into detail on each component and unit on the MCC and the SC PCB s to specify the I O ports needed on the PIC18F8520 Make a piggyback for the units and to find out the voltage each component and unit needs and also to identify the MTBF on each components in order for us to calculate the MTBF of the MCC and the SC and off course the whole system 2 ABBREVIATION Technical Term Standard Definition K M KjetilMj s A G Axel Gravningsbraten S A Sindre Andersen Thomas Andersen R L RunarL ken O R Ole Riiser Main Controller SC Supervision Card MCU Microcontroller Unit MIPS Million Instructions Per Second EEPROM Electrically Erasable Programmable Read Only Memory USART Universal Synchronous Asynchronous Receiver Transmitter PWM Pulse Width Modulation CCP Capture Compare PWM MTBF Mean Time Between Failure IMU Inertial measurement Card 3 TEMPLATE Schematic drawing Description Function specification Specify the inputs and the outputs needed on the PIC18 Vin amp Imax MTBF Footprint Price References Author date Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2
6. Part of MCC Description of the The Digital sensor reports to the MCC every time the control plane is in zero subsystem position The Analog sensor measure the actual position of the control plane and every time the control plane passes the zero position the MCC checks if the analog sensor is sending the right values according to the position and it resets the zero value of the analog sensor on the MCC Consequence of The stepper motors can be controlled open loop Therefore if only the sensor total failure fails it will not affect the flights maneuverability But the MCC will not detect any errors if they occur All the MCC s will report the failure to the SC the SC will give an alarm to the pilot and recommend the pilot to land and fix the problem MTBF 25 340 9 hours between failures Ref Excel diagram MCC Rev0 2 xIsx Time spent Hours 2 hours Owner and date S A A G 18 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 18 of 34 1 0 Page We are considering the joystick as a part of the MCC because every MCC is assigned its own set of axis sensors from the joystick Fracture on roll axis wire A Sharp object fracture copper path Broken power lines Fault tree diagram Joystick fail Electrical
7. 11 5 8 50 12 6 RESPONSIBILITY emt 13 T ilem 14 TABLE OF FIGURES Figure 2 0 0 SE EEE EEE 3 Figure 1 Control 3 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 3 of 14 1 PURPOSE Equator P2 Excursion Prototype Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com The purpose of this document is to define the requirements for the system And to define tests for all the requirements We have to be sure that the system works as supposed and that we get the expected output when we execute an input command We have defined a test for each of the requirements and the tests are numbered according to their respective requirement number The System output is the control surfaces shown in Fig 1 Inputs to the system are the pilot s joystick Fig 2 and an IMU surface controllet by the roll ans on the joysbck Figure 1 Control Surfaces if Figure 2 Joystick AAR RS _ C3 NI Y 1 on fe 4 Rudder controlled by the yaw on the joystick parallel to the nose wheel b
8. 8 3 3 2 Where to find 8 3 3 3 Tel lp RENE 9 3 4 9 4 FURTHER INFORMATION nanannnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 15 COMA Ee 15 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 3 of 15 2 PURPOSE This document is intended for the technician of the Compact Fly By Wire System and it explains how to assemble and wire the system How to connect a computer and how to do Software changes on the system and how the system works in general THE SYSTEM Introduction The system we make is a replacement for the old manual steering system for light airplanes It is supposed to mimic the movements that the old system has but also prevent critical pilot errors like stall angle etc The system can also be implemented with autopilot etc for computer assisted flight The system Figure 1 consists of three Main controller cards MCC which by itself can control the airplane but since electronics are more likely to fail then wires we made the system triple redundant They get joystick readings from a triple redundant joystick which has three axes and
9. Description The group has not met the C requirements Probability Likely We have to work properly with our tasks comply with deadlines and choose Prevention the most effective solutions Our product will not meet all of the requirements of our contractor and we will Consequence end up with a product with lack of the extra ordinary functionality Owner amp date S A 11 01 2012 Table 6 Risk 3 6 2 Development risks Riska Lack of technical knowledge We will later on in the development of this project meet a point where we Description have a lack of technical knowledge Probability Possible Prevention We must acquire technical knowledge through the whole period Consequence We will not be able to deliver a complete product Solution We must acquire technical knowledge through the whole period Owner amp date S A R L 12 01 2012 Table 7 Risk 4 Lack of components Description The probability that we get a lack of components and late deliveries Probability Possible Order the components in good time and do thorough research in good time Prevention prior to each phase and sub phase Consequence The construction may be delayed We will change our plan try to do other tasks that can be solved so we will Solution not lose time Owner amp date S A R L 12 01 2012 Table 8 Risk 5 The probability that
10. 12 6 8 2 Through hole type aciei tirer reete et Givi depend dade Du das areae ceded 13 6 9 GE 0 He 13 6 9 1 Using an inductive sensor in the 13 6 9 2 Using potentiometer as a sensor in the 14 6 10 CONNECT 14 6 10 1 m 14 6 10 2 BLE5 081 90 15 6 10 3 4 Dit Ethernet cable gies M 15 6 10 43 BEE 5 08L10 03 90 SN BK BX esterne tt rne e cerent ne d De etc 15 6 10 5 We decided to not spend more time on this issue and used standard DuPont Connector this has 0 1 spacing So these can be replaced by 16 6 11 TL 16 6 11 1 AMPINNERGY eM 16 6 1122 EMZFEL 5 2 1385 3 59W ccc ese enter ellen eee 16 6 11 3 aprire 17 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE Issue date 22 05 2012 REV1 0 Version 1 0 Page 3 of 34 6 12 Temperalure 56 EE 17 6 12 1 LM 335A Analog temperature 17 6 122 Thermistor TOK eee 18
11. 4 UNS RMS Additional Tests Bachelor Project Compact Fly By Wire System 1 0 Released 29 05 2012 A G O R A G A G NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document Additional Tests Issue date 29 05 2012 Version 1 0 Page 2 of 8 TABLE OF CONTENTS 1 TEST EQUIPMENT L ST 22 522 aca ee taco occa ie cuenca nope rude c a oce pneu ra secura rn 3 1 1 Sensor PANS 3 1 1 1 Motor POS
12. 6 4 Cables Part of MCC and joystick Background In order to prevent a significant voltage loss in the cables Critical component function Conduct electricity Only 0 0018174V drop when 5V power supply at a 3mA current and maximum Positive aspects 8m distance at 30 C Negative aspects No shielding Time spent Hours 2 Replaces N A Reference https www1l elfa se data1 wwwroot assets datasheets 05540000 pdf 25 01 2012 Owner and date A G 23 01 2012 6 5 Shielding Part of Communication between the devices Background We need to avoid as much noise as possible Critical component function Avoid noise The currents flowing in the cables will hopefully not be able to pick up any noise Positive aspects There will be less work shielding the cables The cables will be smaller Negative aspects The cables may be able to pick up noise Not as protected for wear Time spent Hours 1 Replaces N A Reference Internal discussion with Sigmund Gudvangen 26 01 2012 Owner and date S A 27 01 2012 Part of Communication between the devices Background We need to avoid as much noise as possible Critical component function Avoid noise Positive aspects The signal cables will not be affected by any current in the power cables Negative aspects We need to separate the cables Time spent Hours 1 Replaces N A Reference http www omega com lli
13. path Generator Battery breakdown breakdown 5v Regulator breakdo wn data line Sharp object fracture copper path Broken wires Fracture of Temp sensor fail Fracture on copper path Moisture creates shortcuts on copper path Conductive debris creates shortcut on copper path Loss of power Broken wire shortcuts copper path Project Mechani fracture Mechani Compact Fly by wire system Drawing Temp sensor FTA Sharp Author Date S A 09 03 2012 object Revision 0 2 cal wear cal wear copper path Part of MCC Description of the The Temp sensor shows the temperature on the MCC subsystem Consequence of The pilot will not get any information regarding the temperature on the MCC If total failure only the Temperature sensor fails it will not affect the flights maneuverability If the pilot wants to see the temperature he will have to change MCC MTBF 37 087 4 Hours Between failures Ref Excel diagram Common Rev0 2 xIsx Time spent Hours 1 hour Owner and date S A 12 03 2012 Equator Aircraft Norway Gequatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 11 of 34 Fault tree diagram PSU 13 8V fail 13 8
14. Pilot Stall sensor i Windspeed sensor UART Figure 5 Use case diagram for Supervisor controller card Figure 5 shows a use case diagram of the SC This illustrates the actors external sensors and influences that the SC has to relate to Pilot Controls the aircraft by autopilot setpoints UART Sends and receives data to the Main controller cards Stall sensor Measures the angle of attack Windspeed sensor Measures the wind speed Ultrasound Measures the distance to the ground 0 5m Barometer Measure the atmospheric pressure GPS Calculates the aircraft position IMU Measures the rotational attributes Table 4 Table of actors from SC use case diagram For a Class diagram of the SC code See Appendix 14 SC Software Class Diagram For detailed explanation of the code and calculations performed please see the index html file in the software documentation folder on the DVD or dropbox AAA Document Software description Issue date 29 05 2012 Version 1 0 Page 11 of 12 7 COMMUNICATION PROTOCOL To make the communication between the main controller cards and supervisor card as robust as possible we have made a protocol with the following principles e All messages are sent in ASCI e The SC will initiate all communication with either request value or SET set value message e messages sent from the SC to the MCC
15. Conductive Moisture Broken shortcut on copper path copper path on copper path copper path Compact Fly by wire FTA PIC18F8520 AG 15 03 2012 0 2 Part of MCC Description of the subsystem The PIC18F8520 is the heart of the MCC and it does all the calculations and handle all the I O s Consequence of total failure If the PIC18 fails on the the is useless it will stop sending data to SC and the SC will change the command to another MCC MTBF 55 895 8 hours between failures Ref Excel diagram MCC RevO 2 xlsx Time spent Hours 3 hours Owner and date A G 18 04 2012 Equator Aircraft Norway Gequatoraircraft com www equatoraircraft com 5 V Power loss 13 8V Power loss path DL OR DE Generator breakdown Battery breakdown Sharp Sharp 5 object object Dislocati Conductive Moisture Broken Broken Mechani Mechani debris creates wire fracture fracture on of External wires cal wear cal wear creates shortcuts shortcuts copper copper heat heat ath ath sink shortcut on on copper copper Pi p copper path path path Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 14 of 34 Fault tree diagram fail Fracture copper path A protection mode Vibrations cau
16. Part of HMI Background We need to have a bi color LED who indicates the statuses on the MCCs Critical component Shows status on the MCC function We have done some calculations on this The multicolor LEDS have different volt drops which require different resistors The red LED only needs to get a bright light The green one needs 15 mA to get a bright light So the calculated resistors are 1k for the red and 200 on the green Positive aspects Cheap safety and simple overview Negative aspects N A Time spent Hours 2 Replaces N A Reference N A Owner and date S A amp O R 07 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 32 of 34 Part of HMI Background We cannot use Bi color LEDs for our HMI since people with color blindness can t tell the difference if the LED is green or red Critical component function Shows status on the MCC We have done some calculations on this The LEDS have different volt drops which require different resistors The red LED only needs 3mA to get a bright light The green one needs 15 mA to get a bright light So the calculated resistors are 1k for the red and 200 on the green Positive aspects Cheap safety and simple overview Negative aspects N A Time spent Hours 1 R
17. 1 0 Page 1 ABBREVIATION 3 of 6 K M Mj s A G Axel Gravningsbraten S A Sindre Andersen T A Thomas Andersen R L Runar L ken O R Ole Riiser Table 1 Abbreviation 2 PURPOSE Our assignment was to make a proof of concept that demonstrates that a FBW system can make flying safer and simpler Therefore we made a fully functional proof of concept however in order to making a prototype it needs improvements described below DISCLAIMER The improvements below are what we see as necessary changes there are surely Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com more improvements that can be done Document Improvement recommendations Issue date 28 05 2012 Version 1 0 Page 4 of 6 3 IMPROVEMENTS 3 1 Hardware 3 1 1 General It should be used connectors and connection points designed for tough environments Specially to keep dust water and other external influences from making corrosion and or bad connection The system should be mounted in a closed metal box or baked in a form together with for example epoxy to prevent the cards to be exposed from the outer world such as an ECU for cars The card should be created using 4 layers to improve the inductance ground plane issues and to have different layers dedicated to one thing For example top layer as power plane the two layers between as ro
18. Coil fails because of overheat Compone nts inside loosening Compact Fly by wire system Stepper motor FTA S A 17 04 2012 0 2 Project Conduct ive debris Broken Drawing wire Author Date Revision Part of Common unit Description of the The stepper motor receives commands from the stepper controller and controls subsystem the control surfaces Consequence of If the Stepper motor stops working the MCC receive feedback from the control total failure plane sensors and it will register a deviation between the desired position of the control plane and the actual position The affected motor will not operate the steering surface and therefore the airplanes maneuverability will be affected MTBF 202 898 6 Hours between failures Ref Excel diagram MCC 0 3 5 The stepper motor produces more heat when not moving To prevent the coils from overheating and eventually melting we will develop a software function that switch one or two steps within a given period of time in order to move the strain on the coils This only applies when the control planes stepper motors are still for a long period Time spent Hours 3 hour Owner and date S A A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 16
19. 1 0 Page 21 of 34 Fault tree diagram SV power loss sv regulator breakdo wn OR Generator breakdown Battery breakdown Broker copper path SC Fuse Input blows power loss 3 3V Regulator fail Fracture on path Regulator loosening OR Vibration cause the unit to loosen Dislocati on of heat sink Sharp object fracture copper path Regulator shutdown OR Shortcut opper path Moisture Broken Conductive debris creates wire creates shortcuts shortcuts shortcut on on copper copper copper path path path Compact Fly by wire Project system Drawing 3 3V Regulator FTA Author Date S A 15 03 2012 Revision 0 1 Part of SC Description of the The 3 3V regulator will convert the 5V voltage into a linear 3 3V power supply for subsystem the GPS barometer and the IMC Consequence of total failure If the 3 3V voltage regulator fails this will lead to failure on the GPS barometer and the IMC The pilot will get a message through the SC LED which tells him that the SC is not working properly Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com MTBF 32 869 1 Hours between failures Ref Excel diagram SC Rev0 2 xIsx Time spent Hours 1 hour Owner and date S A
20. SC RX RC7 LJ 1 McciTx Po 2 72 ax DTS RST RESET 6 sa S TX Rc6 o o z N pon 469 N 33 156 Common o o o z MCC2 RX P0 16 2 GND Common MCC2 TX 0 15 4 MCC3 RX P2 9 2 1GND Common MCC3 TX P LPC1768 Green Status LED Red Status LED Disable SC MCC 3 Disable SC MCC 2 Disable SC MCC 1 154 Enable 3 MCC2 Enable 52 1MCC3 Enable 1115 Autopilot Enable Altitude Increase JTAG 20 pin block Analog HMI Panel 19 GND Autopilot Enable 157 altitude Increase 26 Altitude Decrease 822 15 Climb 1 5 99 28 Climb Increase 3 Heading Decrease 0 Mei 2 Heading Increase S 1 N Autoplot 59 155 AUTOPILOT tare ano 152104 poodsav z 20 leads Flat cable 1 5 98 paadsuv 35 e2uersia 2s 7 192104 203455 neis 2 7 10002 19 auey GND Power VDC OOF 12 15VDC Supervisor Card USB Cable Android Tablet 1 The dotted line represent a optional connection for programming of the LPC1768 chip 2 4 2 3 In order to conn
21. Switching panel a8 E gt ls SN 4 Description The analog HMI switches should only be used if the SC is not responding or is acting strange Function If MCC 1 switch is pressed down the 5V signal from the MCC1 will be sent to the enable port on the MCC1 and it will go to operational state At the same time a signal is sent to MCC2 amp MCC3 telling them that MCC1 is in control and they will go to standby mode The same signal will go to the SC telling it that the analog HMI is activated and the SC will go to standby Same function for the MCC2 amp the switch I O specification Power supply Switch Input 5V from MCC1 MCC1 Enable MCC1 5V from MCC1 MCC1 Disable MCC2 5V from MCC1 MCC1 Disable MCC3 5V from MCC1 MCC1 HMI activated 5V from MCC2 MCC2 Enable MCC2 5V from MCC2 MCC2 Disable MCC1 5V from MCC2 MCC2 Disable MCC3 5V from MCC2 MCC2 HMI activated 5V from MCC3 MCC3 Enable MCC3 5V from MCC3 MCC3 Disable MCC1 5V from MCC3 MCC3 Disable MCC2 5V from MCC3 MCC3 HMI activated Vin amp Imax Vin 5V from MCC1 MCC2 or MCC3 MTBF N A Price N A References N A Author date A G 22 02 2012 Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 12 of 14 8 SIMULATOR Schematic
22. 6 Table 14 FISK Vel Lae 7 Table 15 RISK T2 7 Table 16 FISK eee Geit 7 72 FISK eee 7 Tables 83 FISK 8 165 2 8 Table 20 Revisions 8 2 ABBREVIATION Technical Term Standard Definition K M Kjetil Mj s A G Axel Gravningsbr ten S A Sindre Andersen T A Thomas Andersen R L Runar Leken O R Ole Riiser Table 1 Abbreviation 3 INTRODUCTION 3 1 The purpose of this document The risk analysis contains risk evaluation of different groups of risk The risks evaluated in this document will assist the other documents and may be referred to later By evaluating the risks in advance will help us to avoid problems before they occur If the problems occur we will have the solution and already know how to solve them The risk analysis will contain description of the problem information about the probability for the problem to happen how to prevent the problem the consequence and how to solve the problem Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Risk document Issue date 26 05 2012 Ver
23. NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the timeof printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document seein Issue date 29 05 2012 Version 1 0 Page 2 of 5 TABLE OF CONTENTS 1 VIST p c 3 2 INTRODUCTION pepe T 3 3 ABBREVIATION c 3 4 PRODUCT PURCHASE LIST sscecesececesscstecsedcsneceesactececucesucesuissacecddeteadesndtedeeccctavetessdeveczveceesteze 3 5 PARIS PURCHASE 3 6 REVISIONS aa 4 Equator Aircraft Norway mail equatoraircraft com www equatoraircr
24. 1 000 000 1 E We have not yet decided on what switches to use on our Analog HMI Panel as this is not a high priority We have therefore set a sensible MTBF number Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 5 of 34 1 3 Explanations to the diagrams Here is a description of all the logic symbols used in the diagrams We Made the FTA diagrams in order to see which events affect which event how it is affected and the consequence of it The diagram is also used to produce the Excel tables where we calculated the MTBF numbers The AND gate multiplies two or more events together This means that in order for the consequence to occur both events need to happen at the same time This reduces the chances dramatically for something to happen The OR gate adds two or more events together This means that in order for a consequence to occur only one event need to happen This increases the chances for something to happen Basic event This symbol represents a basic event The event represents things that happen for example sharp objects fracture copper path Consequence TOD This symbol represents the product of two or more events And is calculated by the AND or the OR gate In our diagram the external event represents the battery breakdown or the genera
25. It should be used a redundant joystick using non contact sensors to minimize the wear of the mechanics of the joystick and potentiometers Document Improvement recommendations Issue date 28 05 2012 Version 3 2 3 2 1 2 22 3 2 3 3 2 4 3 2 5 3 2 6 32 1 0 5 of 6 Software General To ensure that every code on the three MCC s is different it should be written by different persons This is to not have one software error that can happen on all the MCC s at the same time Watchdog timer watchdog timer is microcontroller function that resets the code if it has been hanging in the same loop for specific amount of time To get this function to work properly you would need to calculate how much time every function use and reset the watchdog timer on appropriate places Sensor reading Sensors on SC need to be read The best way of doing this would be to make a class for every sensor and find suitable update time for them Autopilot When all sensors are correctly read into the system an autopilot can be implemented The data can then be sent to the MCC s to control the stepper motors and get the airplane to follow the coordinates Android tablet The digital HMI interface to the pilot is going to be an Android tablet The tablet is connected to SC via a USB cable An USB library needs to be made for the supervisor in order to be able to send data to
26. Positive aspects Smaller footprints and better EMI specifications Negative aspects SMD do not cope high vibration environments Time spent Hours 2 Replaces NA Reference Owner and date O R 22 02 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 13 of 34 Part of amp SC Background We are making two different PCB cards for our project which needs to have components soldered to it we discuss the pros and cons of Through Hole devices Critical component function Positive aspects They are easy to solder more cost efficient in small and they also cope better with vibration environments and high G forces which is the main reason we use through hole components Negative aspects Takes up a bigger area of the board and has a bit disadvantage with EMI since it has longer leads which will give some more capacitance and inductance Time spent Hours 2 Replaces Surface mount components Reference Owner and date O R 22 02 2012 6 9 Joystick Part of Joystick Background We need to have a sensor who registers movement in the joystick Critical component function Works as Sensor and sends a simple analog signal to the MCC Positive aspects Very reliable Not affected by vi
27. Time used for calculating output signal MCC card temperature Checksum A typical example of a serial package 2 522 522 522 34 34 34 45 3 Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 7 of 34 Critical component function Communication and lifeline for MCC to SC Fast speed 19200bps Simple well known has been a standard for decades Start en end message character for added security Checksum number for confirmation that the correct number of bits is received A lifeline can be implemented by using a counter that counts the time since last received data If no data is received in a predefined time period it is reasonable to assume that the MCC is down All the info sent makes it easy to pinpoint an error The bandwidth of the serial wires is bigger than the parallel wires If however we bump up the power in a serial connection by using a differential signal with 2 wires one with a positive voltage and one with a negative voltage we can use the same amount of power have twice the SNR and reach Positive aspects an even higher bitrate without suffering the effects of noise Data may be corrupted A little out dated problems with communication Negative aspects between devices that have separate power supplies Time spent Hours 4 Replaces N A http en w
28. Version 2 Page 11 of 14 5 7 Joystick 5 7 1 Important notes to the requirements The Joystick is going to be designed by our contractor Requirement s R602 R603 R606 R607 and R610 are all set by our contractor to give us an image of how the joystick will work R611 is a requirement we set for our contractor to make the joystick compatible with our system R601 1 The yaw axis on the joystick twisting movement 02 01 2012 will replace the pedals to control the rudder when the joystick is twisted clockwise the rudder will rotate anticlockwise and vice versa T601 1 Control that output is according to input 03 01 2012 O R R612 1 The yaw axis on the joystick control the nose gear 02 01 2012 A G when it is extended T612 1 Control that the nose wheel stepper motor is 03 01 2012 O R controlled by the yaw axis R602 2 Joystick rotating angle yaw axis 25 from zero 03 01 2012 position forward direction T602 2 Control that the joystick can twist 25 in the 03 01 2012 axis R603 2 Joystick rotating torque yaw 100 300g cm from 03 01 2012 zero to max position in each direction T603 2 Confirm that the joystick torque is within the given 03 01 2012 range R604 1 The forward and backward movement on the 02 01 2012 A G joystick pitch control the elevator T604 1 Control that output is as expected 03
29. Version 1 0 Page 5 of 12 Total system failure ALARM HMI panel activated HMI failure Pilot unconscio Figure 1 FTA complete System If the SC fails with this system setup the system function depends on the pilot s reaction Because of these safety reasons we want to avoid the full dependency of the HMI panel as much as possible 3 4 MCC2 Backup Description of Table 2 When SC is working it will send a message to MCC2 telling it that MCC1 or MCC3 is operational Then if the SC were to break down the MCC2 will lose the message from the SC and it will assign itself as operational When MCC1 or MCC3 lose contact with SC they will go in standby mode This way the system will automatically assign MCC2 as the operational MCC if the SC breaks down And we will avoid four of the seven events resulting with HMI MCC2 is chosen if contact with SC is lost or SC has failed MCC2 MCC2 MCC1 Table 2 MCC2 Backup ceca Document Software description Issue date 29 05 2012 Version 1 0 Page 6 of 12 To further explain the advantages of this function you can see from Figure 2 That the MTBF will be higher and the full dependency of the HMI panel and pilot reaction is less likely to happen because both MCC2 and SC will have to fail at the same time 3 5 3 5 1 Tota
30. Control of the stepper motor Critical component function Power supply logic control 3 5 5V Max current 2A per coil Motor voltage 8 35V A Five different step resolutions Positive aspects Built in current limiter high temperature shut down under voltage lockout small size low cost Negative aspects N A Time spent Hours 2 Replaces Big Easy driver Reference http www pololu com catalog product 1182 Owner and date K M amp AG 02 02 Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 28 of 34 6 18 Stepper motor The reason for using a stepper motor instead of an actuator is simply because it was a wish from Knut Brodreskift Also the shaft on the stepper motor will be easy to swivel when the stepper motor is off power This is a positive aspect when it comes to safety issues An actuator will in most cases stay in the last position it had if it lose power and this could cause serious problems when the aircraft is airborne This is the motor which will control the control surfaces Part of Airplane body Description Will control the wings of the airplane This is a unipolar stepper motor Critical component function 1 8 step per resolution Hold torque 4 25 kg cm 10 6 ohm per phase in bipolar setup Weight 0 29
31. Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 33 of 34 prevented since the grounds to the other circuits will be so far away in distance because of the gap between the circuits Digital circuit Analog circuit Interface circuit GND GND GND Unmetallised moat Positive aspects The analog part of the circuit will not record noise from the digital part and the switching regulator Negative aspects N A Time spent Hours 2 Replaces N A Reference EMC at component and PCB level By Martin O Hara 1998 Newnes Page 124 Owner and date S A 08 03 2012 Part of Ground plane on the PCB s Background We need to avoid as much noise we can And try to reduce the EMC on the card Critical component The simplest and best solution we ve came up with is just to have a solid plane function Positive aspects Simple and great solution Negative aspects N A Time spent Hours 2 Replaces Moated Ground Plane Reference Owner and date S A 08 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 34 of 34 6 24 Communication with external screen android tablet Part of SC Background We need UART to USB converter in order to communicate with the advanced user interface
32. R603 2 N T We do not have access to the actual joystick it is not yet produced Equator Aircraft Norway must make sure the joystick is according to requirement 16 05 2012 A G R604 1 Passed The pitch axis controls the elevator stepper motor 16 05 2012 A G R605 1 Passed The output is according to the requirement 16 05 2012 A G R606 2 N T We do not have access to the actual joystick it is not yet produced Equator Aircraft Norway must make sure the joystick is according to requirement 16 05 2012 A G R607 2 N T We do not have access to the actual joystick it is not yet produced Equator Aircraft Norway must make sure the joystick is according to requirement 16 05 2012 A G R608 1 Passed The roll movement controls the ailerons 16 05 2012 A G R609 1 Passed The output is according to the requirement 16 05 2012 A G R610 2 N T We do not have access to the actual joystick it is not yet produced Equator Aircraft Norway must make sure the joystick is according to requirement 16 05 2012 A G R611 3 N T Our system is prepared for a triple redundant joystick Equator Aircraft Norway must make sure the joystick is according to the requirement 16 05 2012 A G Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Test Results Issue
33. Sensur av hovedoppgaver H gskolen i Buskerud Avdeling for Teknologi N S j HOGSKOLEN Prosjektnummer 2012 3 For studie ret 2011 2012 i Buskerud Emnekode SFHO 3200 Prosjektnavn Kompakt Fly By Wire System Compact Fly By Wire System Utf rt i samarbeid med Equator Aircraft Norway Ekstern veileder Knut Br dreskift Sammendrag Vi fikk en oppgave av Equator Aircraft Norway den gikk ut p utvikle et elektronisk styringssystem til deres nye prototype P2 Excursion Vi skal kunne styre alle styreflatene kun ved hjelp av en tre akse joystick slik at ror pedalene som er vanlige i sm fly i dag kan bli eliminert Systemet v rt kan programmeres til bli brukt som autopilot og det kan forhindre pilotfeil som stall og misstolkning av h yde I 2010 ble det gjort en unders kelse i USA hvor det ble klart at mer enn 50 av alle amat rflyulykker skjedde grunnet pilotfeil Stikkord Brukervennlig e Fly sikkerhet e Elektronisk Tilgjengelig JA Prosjektdeltagere og karakter Navn Karakter Ole Anders Riiser Kjetil Mj s Runar L ken Axel Gravningsbr ten Thomas Andersen Sindre Andersen 1 Dato 14 Juni 2012 Sigmund Gudvangen Olaf Hallan Graven Knut Br dreskift Intern Veileder Intern Sensor Ekstern Sensor EH LCS EDIE ORD Compact Fly By Wire System 1 0 Released 29 05 2012 Ole Anders Riiser Kjetil Mj s ARRAN TABLE O
34. T 100n Compact Fly by Wire Supervision Card 470u RC filtering and decoupling caps Author Ole Riiser Version 1 Date 21 05 2012 Bill OT Materials Design Dropbox equator_hibu_2012 Proteus MCC_Rev0O 2 DSN Doc lt NONE gt Revision lt NONE gt Author Ole A Riiser Created 22 02 12 Modified 05 11 12 QTY PART REFS VALUE CODE Resistors 5 R1 R3 E NW PULLUP 10k E PULLUP 1 R4 18k 1 R5 3 9k 1 R6 1k 1 R7 6 5k 1 R8 200 1 R9 400 5 32 Resistor network Isolated 5x 4 7k ohm RESISTOR NETWORK 1 RESISTOR NETWORK 4 Capacitors 23 C1 C3 C7 C25 C31 100n Ceramic 3 c4 c6 10uF Tantalum 2 C26 C27 470u Electrolytic Integrated Circuits a Ul PIC18F8520 1 u4 D518B20 Miscellaneous 7 C ST E C ST LA 3x2 Header 0 1 C ST NW C ST R C ST RA JS SPARE1 5 E CONTROLLER LA CONTROLLER NW CONTROLLER CONTROLLER RA CONTROLLER A4988 1 HMI 4x2 Header 0 1 1 24 CONN H6 1 POWER Power 1 POWER LED LED Green 8 PTC1 PTC8 PTCO 25 Polyfuse 7 S E S LA S NW S R 2x2 Header 0 1 S RA SC SPARE2 http www pololu com catalog product 1182 Male Header 0 1 for PICKit2 programmer ED2237 Bill of Materials Design Doc no lt NONE gt Revision lt NONE gt Author Ole A Riiser Created 02 09 12 Modified 05 14 12 QTY PART REFS Resistors 2 R1 R15 1 R4 X R5 2 R11 R16 2 R12 R13 2 R18 R19 2 R20 R21 R23 Capacitors 20 C1 C3 C13 C16 C19 C21 C23
35. s D i 22W 01 X 40 wie AT HH ad g Hi 7 d 8 8 AH Ure en N x TIOW OLX HE q 1 01 NS prm x VERS ONE 1934M JSON uonisod _ porre 0 iar 15 2 15 9 EIIW SX ay 12 4 5 40 0W 1299245 205425 815 40595 paadsury sosuas Sensors 1 Joystick gt i LI MEN 111 tit 5 xn zx 4 L gt 12 2 X6 34 NE H it p Main Controller Card1 wee mar imam 1828520 5 lt gt OE 5 Ise nce a OOF ae Ey er 12 Enable 14 NCCE Enable Analog HMI Panel X3 MCCI ostaa cs xi mci ESTE Notes 1 These connections only applies for the MCC1 connector on the SC For more information Look at the SC wiring diagram 2 The drawing for MCC2 amp MCC3 is wi
36. 26 05 2012 Version 1 0 Page 6 of 15 The main screen is then showed PICKit 2 Programmer A File Device Family Programmer Tools View Help PIC18F Configuration Device PIC18F8520 2600 OE0F 0183 0081 User IDs FF FF FF FF FF FF FF FF gu Checksum DEED SCC NE mans on coo Program Memory Source C uator_hibu_2012 Software MCC MCC hex Auto Import Hex Write Device 000 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF Read Device 010 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF Fr Export Hex File 020 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF WS 030 FF FF FF FF FF FF FF FF FF FF FF FF FF FF PICkit 2 Figure 4 PICkit2 programmer software Open file and choose import hex Navigate to the hex file created by MicroC Press OK and you should get a hex file successfully loaded ceca Document Technical User Manual Issue date 26 05 2012 Page 7 of 15 Version 1 0 File Device Family Programmer Tools View Help PIC18F Configuration Device PIC18F8520 2600 0183 0081 User IDs FF FF FF FF FF FF FF FF se Checksum EQEE Hex file sucessfully imported AN MICROCHIP VDD PICkit 2 On 5 0 Read vite Eme BankCheck Memory Program Figure 5 PICkit2 hex file
37. ABBREVIATION mu 3 INTRODUCTION EE 3 3 1 The purpose of this 3 4 SCALE 4 5 TEMPLATE 4 6 RSKS uec licec e DM D Ec LE 4 6 1 Requirement NISKS e 4 6 2 Development SKS ed nde 5 6 3 Working progress risks 6 7 REVISIONS nuhi in EI Ie I IEEE 8 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Risk document Issue date 26 05 2012 Version 1 0 Page 3 of 8 1 LIST OF TABLES Fables tice Rocce Set eee 3 2 os 4 Table 3 Template RE 4 TAPERE NN 4 TAEDES 2 4 RES ERU ml 5 Table RE 5 SISK 5 5 Table RISK O 5 Table TO RISK Tree 6 Table 12 RISK eee 6 Table 12 FISK Oraa aa E E 6 Table 13 a
38. However after working with the project for while the area of responsibility has changes due to practical reasons here is the actual list of responsibilities Ole Anders Riiser Project manager Hardware Circuit design Sindre Andersen Risk Design and Accounting Thomas Andersen Software and Web Runar L ken Project Model amp Simulation Kjetil Mj s Redundancy amp Testing Actuator Axel Gravningsbr ten Analysis Document amp Requirements 13 1 13 2 13 3 13 4 Table 13 Actual list of responsibilities Table 14 shows the responsibility area for each person in the project group There is only one person who has the main responsible for one area But we have also set up second person as backup if someone get sick or is absent Project manager The project manager has the main responsibility for the project He has to that the time schedule is followed and deadlines are met The project manager is also the person responsible for good communication with HIBU and equator aircrafts Economy and budgeting The persons s responsible for the economy must have full control of the group budget and have to give consent if something needs to be purchased He has to have a perfect understanding of the economical agreement between the group and the client The economy responsible will pay back all the cash outlays as quick as possible Requirements The person respo
39. O R from joystick per axis 5 8 Control surface R702 1 The rudder must be able to move 25 degrees in 02 01 2012 A G both directions from zero position Zero position is when the rudder is parallel to the vertical stabilizer T702 1 Control that output is as expected 03 01 2012 O R R703 1 The elevator must be able to move 25 degrees in 02 01 2012 A G both directions from zero position Zero position is when the elevator is parallel to the tail plane T703 1 Control that output is as expected 03 01 2012 O R R704 1 The ailerons must be able to move 25 degrees 02 01 2012 A G both directions from zero position Zero position is when the ailerons are parallel to the wing T704 1 Control that output is as expected 03 01 2012 O R R706 2 Aileron torque is minimum 40kg cm in both 27 01 2012 directions T706 2 Confirm that the ailerons can withstand 40kg cm 27 01 2012 O R R707 2 Aileron response time from zero to maximum 03 01 2012 A G deflection 25 in each direction 0 5 sec 1707 2 Confirm that they have the specified angular 03 01 2012 T A velocity R708 1 Minimum resolution of aileron surfaces 5 02 01 2012 A G steps degree T708 1 Confirm the resolution 03 01 2012 T A R709 2 Rudder torque is minimum 40kg cm in both 27 01 2012 A G directions T709 2 Confirm that the rudder can withstand 40kg cm 27 01 2012 T A R710 2 Rudder respo
40. Owner and date A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 34 of 34 9 REFERENCES 1 Referring to the design of the FTA 20 03 2012 Fault tree analysis pdf and how we compute the MTBF 2 Referring to how we compute the 20 03 2012 Rel MTBF pdf MTBF values 4 The MTBF numbers for common 19 04 2012 Excel diagram Common Rev0 2 xISx units and components 5 Excel diagram Compact fly by wire The MTBF numbers for the whole 19 04 2012 system Rev 0 2 xlsx system 6 The MTBF numbers for the HMI 19 04 2012 Excel diagram HMI RevO 1 xlsx Excel diagram MCC Rev0 3 xISx The MTBF numbers for the MCC 19 04 2012 Excel diagram SC 0 2 The MTBF numbers for the SC 19 04 2012 10 REVISIONS If any changes to the document are done a new revision will be issued 0 1 Made template 02 03 2012 A G 0 2 Made The MCC FTAs 12 03 2012 SA 0 3 Changed 5 1 6 Error Reference source not found 4 1 2 Made new 14 03 2012 roup of FTAs Common units between SC and MCC DE S A 04 2 all the FTA diagrams Made Error Reference source not 15 03 2012 Made Error Reference source not found Error Reference source A G 0 5 t found 5 1 7 6 1 6 6 1 5 6 1 11 5 1 1 Er
41. Power loss Broken wires Compact Fly by wire system PSU 13 8V FTA 12 03 2012 Project Generator Battery breakdown Drawing Author Date S A Revision 0 1 breakdown Part of MCC Description of the The 13 8V is the main power supply and supply all the MCC s and the SC with subsystem power Consequence of If the 13 8V fails it might be the fuse so another MCC might work total failure MTBF 165 746 8 Hours between failures Ref Excel diagram Common Rev0 2 xIsx Time spent Hours 2 hour Owner and date S A A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 12 of 34 5 CONTROLLER CARD 5 1 Description to the chapter We consider the MCC s as independent systems in this chapter and divide them into several smaller subsystems to ensure a less extensive system analysis Fault tree diagram MCC fails Compact Fly by wire system Drawing MCC Overview FTA Author Date S A A G 20 04 2012 Revision 0 3 Project 13 8V 5V Power Joystick Stepper controller Power loss loss fails fail Stepper Stepper Stepper Stepper Stepper controller 3 fails Part of This is the FTA of the MCC Description of the This is the entire MCC system It is the MCC that controls the control surfaces
42. The system must be open for additional manual activation of gyro stabilization ON OFF 1xDI 03 01 2012 A G T226 2 The activation is a simple ON OFF switch so here we have to check if the system is able to receive the Digital signal And further give the command to the joystick off or give the command to the gyro stabilization 04 01 2012 R L Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 7 of 14 R227 2 The system must be open for additional manual 03 01 2012 A G input of heading and climb input set point T227 3 Confirm that the heading and climb set point is 04 01 2012 R L received into the MCC software R228 2 The system must be prepared for LCD display 03 01 2012 A G T228 2 To check this requirement we have to connect a 04 01 2012 R L LCD display to our system and confirm that it displays the right values R229 2 The system must be prepared for Tablet PC with 03 01 2012 A G Android operating system USB serial communication 1229 2 To check this we will try to connect a Tablet PC 04 01 2012 R L with android operating system to our system and see if they are communicating correctly R230 2 The system must be prepared for Digital status 03 01 2012 A G indicators T230 2 We connect
43. no 3d Figure 2 Select Aircraft The next step is to choose a location where you want to fly here you can choose the one you want and push next Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 11 of 15 Select a location Runways ICAOId 104 NEW JERUSALEM 12 230 Meadowlark Field 30 2CL1 Canyon Creek 440 Oakland AHP 450 Sandhill H 4CA3 Camp Parks H 4 Yandell Ranch 402 Peninsula Hospital H 55CA Naval Hospital H 59CA Little Hands 5CA3 San Rafel Private 5CL2 South Valley Hospital 5CL3 Mapes Ranch Parkin 801 JB C83 BYRON CA14 U of C Richmond Field Station CA26 Hall of Justice H CA27 Alcatraz CA30 Commodore CA33 County Medical Center H CA34 Flea Port H CA48 Jones H CA54 33 Strip CA63 John Muir Memorial Hospital H CA67 Westley CA70 Bishop Ranch H Refresh Carrier Ops Carrier Park refetch Defaults Load Save As Prev IZ Next Quit Figure 3 Select Location In the next screen picture it is possible to set different condition and it is here you have to implement the XML code For doing this select Advanced Display Horizon effect 3D Clouds Resolution 800x600 x Enhanced runway li
44. system on the airplane Consequence of Total failure of the MCC means that the airplane is uncontrollable That is the total failure reason why we have three of these doing the same job If all of the three fails simultaneously the pilot then has two choices 1 try to control the aircraft using the trim tabs on the control planes 2 pull the emergency parachute MTBF 4 891 3 hours between failures Ref Excel diagram MCC Rev0 2 xIsx Time spent Hours 2 hours Owner and date S A A G 18 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 13 of 34 Fault tree diagram 5v Regulator breakdo wn 13 8 V Power loss OR Broken wires Generator Battery breakdown breakdown PIC18F8520 failure 5 V Power loss gt e Fracture on shortcut on Shortcut copper path copper path leads to SV power for 5V more than supply power V on Input supply to the PIC OR OR OR Sharp Vibrations Conductive Moisture Broken 3 object case ia medan debris creates wire debris creates wire fracture creates shortcuts shortcuts creates shortcuts shortcuts cal wear controller to loosen copper path connectivi ty shortcut on copper path on copper path
45. where the pilot can edit parameters and autopilot setpoints We found the Vinculum Chip from FTDI Which is can be interfaced with android Critical component function Communicate with Android device Positive aspects Powerful Chip this may help the PIC with heavy computations when the system is further developed Negative aspects Adds more complex components to the SC board Time spent Hours 5 Replaces UART communication Reference http www ftdichip com Support Documents DataSheets ICs DS_Vinculum ll pdf how to access android accessory mode Last Read 20 03 2012 http apple clickandbuild com cnb shop ftdichip 0p catalogue products null amp prodCategorylD 117 amp title V2DIP2 braked out chip with needed interface Last Read 20 03 2012 Owner and date 20 03 2012 6 24 2 This is not needed after the change of Microcontroller which has internal USB 7 REVISIONS Responsible person for this document procedure or template 0 1 Made templates wrote introduction 13 01 2012 S A Filled inn abbreviation list and made 6 2 microcontroller some A G 0 2 18 01 2012 cosmetic and practical changes to the tables 0 3 Gathered together all the finished hardware researches we have done till 02 02 2012 S A 01 02 2012 0 4 Added Linear regulator research 08 02 2012 K M 0 5 Cleaned up the document and added PSU research 09 02 2012 O R 0 6 Gathered togethe
46. 03 2012 01 06 2012 15 Accounting 29 03 2012 01 06 2012 10 Updating the webpage 29 03 2012 01 06 2012 25 Write the Technical Document 29 03 2012 01 06 2012 150 Writing the weekly Status Report 29 03 2012 01 06 2012 70 Writing Fail probability document 29 03 2012 01 06 2012 35 Writing the Final Document 29 03 2012 01 06 2012 200 Software Development 29 03 2012 01 06 2012 700 Testing 29 03 2012 01 06 2012 200 Implementation 01 04 2012 01 06 2012 300 Table 8 List of activities phase 3 10 4 Phase 4 Transition May 29st June 8th Here we finish off the project and hopefully polish everything we have done Finishing the Final report Making Project Poster Prepare a great final presentation Accounting 29 03 2012 15 06 2012 10 Updating the webpage 29 03 2012 15 06 2012 25 Final Presentation 01 06 2012 11 06 2012 50 Write the Technical Document 29 03 2012 29 05 2012 150 Writing the weekly Status Report 29 03 2012 29 05 2012 70 Writing the Final Document 29 03 2012 29 05 2012 400 Software Development 29 03 2012 29 05 2012 50 Testing 29 03 2012 29 05 2012 40 Implementation 29 03 2012 29 05 2012 20 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 14 of 18 11 TI
47. 1 Presentations 2 2 9 9 1 2 Documentation 9 9 2 Materials 9 9 2 1 Research 9 9 2 2 Construction 10 9 2 3 10 10 TIME SCHEDULE EM 10 10 1 Phase 1 INGeplbnas ar Fe 10 10 2 Phase 2 Elaborati Ma en aiden a a aaa a 11 10 3 PHASE 3 ConstrUGtoN ONE E aea Taaa aata E ea EA 12 10 4 Phase 4 at 13 11 TIMELINE EAA E A EE EE EE E E E 14 11 1 2 ie a 14 12 PROJECT ORGANIZATION nunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnn 14 12 1 14 12 2 DU POMVISONS 14 12 3 Group RL 15 12 4 Aboutthe Contractors 15 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 3 of 18 12 5 Project DOCUMENT
48. 19 04 2012 Document Fault tree analysis Issue date 29 05 2012 Version 22 of 34 1 0 Page Fault tree diagram 3 3v Regulator 13 8 V breakdow Power loss n Generator Battery breakdown breakdown vac og failure corrosion Moisture Broken Broken causes bad Sharp fracture copper Conductive Conductive debris debris creates shortcut on copper path creates shortcut on copper path a connectivi ty Project Compact Fly by wire system FTA LPC1768 Part of SC Description of the The LPC1768 is the heart of the SC and it does all the calculations and handle subsystem all I O s Consequence of If the LPC fails on the SC All SC functions will stop working the SC will stop total failure sending a package to MCC2 and MCC2 will automatically be operational Ref Software research Chapter State Failure Research Simultaneously an alarm will be given and the SC light on the HMI panel will turn off or turn Red depending on the fault reason When SC is non functional the pilot is the Supervisor If something happens with the MCC in control MCC2 or another MCC assigned by the pilot The pilot has to change MCC manually If the aircraft is controlled by the autopilot when the LPC fails The autopilot will stop MCC2 will take command and the pilot must fly the aircraft manually MTBF 20 485 8
49. 2012 Version 1 0 Page 8 of 34 Fault tree diagram Voltage read 5V fail 5V Power loss OR OR Voltage Broken wire shortcuts copper path Moisture creates shortcuts on copper path Conductive debris creates shortcut on copper path Sharp object fracture copper path 13 8V Vibratio ns cause unit to loosen regulato fails Power loss Mechani cal wear Compact Fly by wire system Drawing Voltage read SV FTA MCC Author Date S A 12 03 2012 Fuse Broken Revision 0 1 blows wires avison Project Generator Battery breakdown breakdown Part of MCC Description of the The voltage reader measures the voltage right after the 5V voltage regulator on subsystem the MCC Consequence of The pilot will not get any information about the voltages on the card If only the total failure Voltage reader fails it will not affect the flights maneuverability If the pilot wants to get the voltage information he will have to change MCC MTBF 36 412 2 Hours Between failures Ref Excel diagram Common Rev0 2 xIsx Time spent Hours 1 hour Owner and date S A 12 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 9 of 34 Fault
50. 3 2 ABBREVIATION erc 3 3 TEMPLATE 3 3 1 1 3 4 SYSTEM DIAGRAM m 4 5 MAIN CONTROLLER CARD runannnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 5 5 1 Power Supply eerte tace e ek a d eee La dE a dues 5 5 1 1 Linear Voltage Regulator LM 78105 5 5 2 Stepper Controller 2 dte nr lan ek a RE en E 6 52 1 A4899 Stepper motor 6 5 3 SENSE EE ME 7 5 3 1 Temperature 0518820 7 6 SUPERVISOR CARD m 7 6 1 1 Linear Voltage Regulator 3 3V 10111733 7 6 1 2 Linear Voltage Regulator 5V LM 78105 8 6 2 dees 8 6 2 1 EE 8 6 3 SII EE M 9 6 3 1 i 9 6 3 2 cu E 9 7 OR ea EE 10 7 1 1 Analog HMI SWICNGS Tm 10 8 SIMULATOR aet 12 8 1 1 Simulator hardware 12 9 REFERENCES EE NE 13 9 1 p eocr
51. 4 N T Test must be done by Equator Aircraft Norway 15 05 2012 A G R218 2 N T We have not been able to test this requirement due to shortage of time It has been a low priority to do tests on the nose wheel 29 05 2012 A G R219 2 This has to be tested when the landing gear is mounted on the prototype The reason for this is that EAN will test if it goes back to zero position by aerodynamic forces 29 05 2012 A G R220 2 Passed We have implemented this function on the SC PCB card it is therefore now internal The SC also has additional spare connectors for reference signals 15 05 2012 A G Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Test Results Issue date 29 05 2012 Version R221 2 Passed 1 0 Page We have implemented this function on the SC PCB card it is therefore now internal The SC also has additional spare connectors for reference signals 15 05 2012 5 of 10 A G R222 2 Passed We have implemented this function on the SC PCB card it is therefore now internal The SC also has additional spare connectors for reference signals 15 05 2012 A G R223 2 Passed We have implemented this function on the SC PCB card it is therefore now internal The SC also has additional spare connectors for reference signals 15 05 2012 A G R224
52. 6 12 3 TMP 36 Analog temperature 18 6 12 4 DS18B20 One Wire digital temperature 18 6 13 19 6131 2596 4 19 6 132 LM22676QMBE 5 Q iiir irte 19 6 13 3 LM26785 50 canta dad o dekke van 21 6 13 4 UM 7805 22 6 14 Choosing MEG Signal E 23 6 14 1 23 6 14 2 Enable each card 23 6 15 Redundaney 24 6 15 1 Triple redundancy to 24 6 15 2 Parallel redundancy 25 6 16 26 6 16 18 8520 ert i eene 26 6 16 2 rmm 26 6 17 Stepper controller ete eed eon 27 6 17 1 Big Easy driver eats mei A 27 6 17 2 4899 Stepper motor 27 6 18 Stepper MOTON ec LEE MEE 28 6 18 1 Sanyo Denki 2
53. 6 16 Microcontroller The Microcontroller of choice is the PIC18F8520 Our contractor wanted us to use this MCU both for the SC and the MCC therefore we have not done much research on other types of MCU s Part of amp SC Background We will need to decide for the SC and the cards Critical component Pin Count 80 function Program memory 32KB speed 10MIPS RAM 2048 bytes Data EEPROM 1024 bytes Digital Communication Peripherals 2 A E USART 1 MSSP SPI I2C Capture Compare PWM Peripherals Timers 2 x 8 bit 3 x 16 bit ADC 16 channels 10 bit Comparators 2 Temperature range 40 to 125 C Operating Voltage Range 2V to 5 5V Positive aspects A lot of extra l O s well known manufacturer Negative aspects N A Time spent Hours 1 Replaces N A Reference 1 Owner and date A G 18 01 2012 Part of SC Background We needed more powerful microcontroller for the SC card Critical component function The LPC 1768 microcontroller has 512KB of internal flash and 64KB RAM Ethernet MAC USB Device Host OTG interface 8 channel general purpose DMA controller 4 UARTs 2 CAN channels 2 SSP controllers SPI interface 3 I2C bus interfaces 2 input plus 2 output I2S bus interface 8 channel 12 bit ADC 10 bit DAC motor control PWM Quadrature Encoder interface 4 general purpose timers 6 output gener
54. A G 09 02 2012 INPUT LM78LXX Schematic drawing OUTPUT 2 0 335 0 014F Description This power supply will provide some 5v circuitry with 5v like logiv level converter and USB charging Current Function Deliver a steady power supply to the joystick 5V 0 2V I O specification Input Output 13 8V 4V 5V 0 2V GND N A Vin amp Imax 7 9Vmin 35Vmax load currents up to 1000mA MTBF 1002356520 hours Footprint TO 220 Price 1 USD References 7 1 1 4 LM 78L05 data sheet Author date A G 09 02 2012 6 2 Microcontroller Schematic drawing The LPC1 768 is a 32 bit microcontroller which is much better for this board than the PIC18F8520 We use a Core board solution which has J tag connector breaked out Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Description Document System Description Issue date 26 05 2012 Version 1 0 Page 9 of 14 and we don t need to solder surface mount components http www wayengineer com index php main page product info amp products id 200 Function Monitor every MCC and decide which that has control over the system The LPC1768 microcontroller has 512KB of internal flash and 64KB RAM Ethernet MAC USB Device Host OTG interface 8 channel general purpose DMA controller 4 UARTs 2 CAN channels 2 SSP controllers S
55. AP button ON OFF Switch This autopilot setting is simple ON OFF switch autopilot without possibility of automatic take off amp landing and waypoints With the joystick autopilot option you can set desired altitude with the ALT button and set the compass heading with the HDG button ertet Document USER MANUAL Issue date 28 05 2012 Version 1 0 Page 4 of 7 Figure1 Joystick with autopilot 4 ANDROID TABLET On the next page is an example of the factory set user interface of the Android flight instrument panel The Tablet is the main instrument panel of the aircraft and it handles all the information you need we advise you to use some time to get to know the functions of it In the above example you can see the factory settings of the instrument panel containing Google map with airspace zones Compass heading Distance to destination Time to destination Altitude Airspeed Ground speed Autopilot settings System status Warnings and alarms will automatically pop up on the screen no matter the user settings The autopilot is available with vast possibilities of functions with waypoints automatic takeoff and landing automatic altitude settings according to the airspace zones Etc You can set other information bars change the sizes and add more the user interface can be customized to suit your needs and wishes There is also possible to dow
56. DECREASE ALTITUDE INCREASE AUTOPILOT ENABLE DISABLE SUPERVISOR MCC1 DISABLE SUPERVISOR MCC2 DISABLE SUPERVISOR MCC3 gt Usb link Good 2 USB PPWR lt RANGE ENABLE lt RANGE PWM gt USB PWRD gt VVV VVVVVV SPARE7 lt 39 1 WIRE gt 20 USB OVRCR lt 44 SPARE lt 45 SPARES lt 21 20 75 74 73 70 69 68 67 66 65 MCC3 TX LV lt J 64 oe RTS ISP gt 52 SPARE13 lt J SPARE12 lt lt 768 TXDO 1yENET TXD1 AENET TX EN BJENET CRS 9 ENET RXDO 10 RXD1 14 RX ER 15 REF CLK 16 ENET MDC 17 MDIO 18 USB UP LED PWM1 1JCAP1 0 19 PPWR CAP1 1 20 1 2 3 21 MCABORT PWM1 3J SSELO 22 MCOBO USB PWRD MAT 1 0 23 MCI PWM1 4 MISOO 24 MCI2 PWM1 5 MOSIO 25 MCOA1 MAT1 1 26 1 1 6 0 27JCLKOUT USB OVRCR CAPO 1 28 MCOA2 PCAP 1 0 MATO 0 29J MCOB2 PCAP1 1 MATOL1 30 VBUS AD0 4 31 SCK1 ADO 5 PO ORD1 TXD3 SDA1 PO 1TD1 RXD1 SCL1 PO 2TXDO ADO 7 PO 3 RXDO ADO 6 PO AI2SRX CLK RD2 CAP2 0 WS TD2 CAP2 1 PO GJI2SRX SDA SSEL1 MAT2 0 PO 7J I2STX CLK SCK1 MAT2 1 WS MISO1 MAT2 2 PO SJ I2STX SDA MOSIH MAT2 3 PO 10JTXD2 SDA2 MAT3 0 PO 11JRXD2 SCL2 MAT3 1 PO 15JTXD1 SCKO SCK PO 16 RXD1 SSELO SSEL PO 17 CTS1 MISOO MISO PO 18 DCD1 MOSIO MOSI PO 19 DSR1 SDA PO 20JDTR1 SCL1 PO 21JRH RD1 PO 22JRTS1 TD1 PO 23JADO OJ I
57. Dette gjer det vanskelig implementere autopilot og overv kningssystemer som kan hjelpe piloten Fly by Wire er et elektrisk styresystem som har erstattet det mekaniske systemet i st rre fly Det ble forst utviklet for jagerfly pa slutten 50 tallet som i utgangspunktet blir flydd i en ustabil tilstand Disse flyene ville vaert umulige styre uten elektronisk hjelp fra en rekke sensorer som holder flyet stabilt Dette er na standard i nye kommersielle fly pga kt sikkerhet og vektbesparelser Systemet er forelopig ikke benyttet i sma fly men vil ogsa her kunne gi tilsvarende fordeler Vi skal skrive oppgaven p engelsk Av dokumentasjon er oppdragsgiver interressert i en teknisk sluttrapport Resten av dokumentasjonen blir levert inn som separate filer til h gskolen F rste del av oppgaven g r ut p unders ke og sette oss inn i hvilke systemer som finnes i dag og hva slags krav som stilles til slike systemer Deretter skal vi unders ke feilsannsynlighet og utf re en feil tre analyse Sluttproduktet er et ferdig kretskort samt valg av aktuator Oppdragsgiver vil at vi skal bevise funskjonaliteten i en FAT Og det hele vil bli demonstrert i en avsluttende presentasjon Ekstern veileder nsker i hovedsak benytte seg av epost til kommunikasjon og dropbox til utveksling av filer Oppdragsgiver Equator Aircraft Norway Ekstern veileder Knut Br dreskift Sivilingeni r Marin teknisk avd NTH 1978 Epost kbrodreskift
58. G A R105 1 Humidity Relative Humidity 100 condensation R106 1 Maximum G force 10G 02 01 2012 A G R107 2 Vibrations due to turbulence and running generator 12 01 2012 A G Table 1 Environmental condition requirements 5 3 Overall system function R205 4 B The weight of the control system must not exceed 1 kg minus the actuators 10 01 2012 A G T205 3 This is a B requirement in the sense that safety comes first It is desirable to save as much weight as possible however it is not going to be on expense of the safety of the system The test is simply done by weighing the entire system with mounting equipment before it is mounted in the aircraft 10 01 2012 R207 2 A When the landing gear is extended the nose wheel actuator must be activated and controlled parallel to the rudder but in opposite direction Hence the yaw axis on the joystick turns clockwise the nose wheel will turn clockwise and the rudder will turn counter clockwise 22 11 2011 T207 3 The landing gear will not yet be mounted on the aircraft so this test will simply be to check that the outputs of the system are according to the requirement 04 01 2012 R216 4 A Dual source Input voltage 13 8VDC 4V 10 01 2012 O R T216 3 This test will have to be done by Equator Aircraft Norway when the hybrid system is mounted The voltage source will be measured when the batteries are a
59. Hours between failures Ref Excel diagram SC Rev0 2 xIsx Time spent Hours 3 hours Owner and date A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 23 of 34 Fault tree diagram loss 13 8 V Generator breakdown 3 3V Power IMC fail Fracture on copper path shortcut on copper path Power loss OR Broken Moisture Conductive 5v Vibration Regulator Fracture on debris creates wire Beads ommunicat the IMC creates shortcuts shortcuts ion lines shortcut on on copper copper to loosen wn path path copper path OR Compact Fly by wire system IMC FTA 16 03 2012 Project Sharp Drawing object fracture copper path Author Date S A Revision 0 1 Mechani Broken wires cal wear Battery breakdown Part of SC Description of the IMC consists of three units Gyro Magnetometer and accelerometer This will subsystem provide information about the flight to the SC Consequence of If the IMC fails the SC will not have all the desirable functions but it will still be total failure able to automatically change MCC if something happens to it MTBF 36 464 8 Hours between failures Ref Excel di
60. Norway mail equatoraircraft com www equatoraircraft com Document Additional Tests Issue date 29 05 2012 Version 1 1 1 1 1 1 1 2 1 0 Page 3 of 8 TEST EQUIPMENT LIST Sensor Panel Here you will find the Sensors we will use to simulate different functions and states on the MCC and the SC card Motor position sensor We need a sensor to simulate the position sensors of the control planes in order to test the closed loop in software We also need optical sensors that tell us every time the motors are in zero position Photo Interrupter GP1A57HRJOOF This is the Digital sensor we will use to simulate the zero position of the motor It is an infrared emitter and an infrared detector when the infrared signal is interrupted the sensor sends out a digital signal Ref http www sparkfun com products 9299 last checked 24 04 2012 by A G 5K OHM Linear Taper Rotary Potentiometer 5KB B5K Pot This potentiometer works well for measuring the position of a stepper motor It has a 300 degree 10 rotary angle and 10k ohm Ref http www ebay com itm 5K OHM Linear Taper Rotary Potentiometer 5KB B5K Pot 260780963335 pt LH DefaultDomain O amp hash item3cb7c1b607itht 1507wt 1037 last checked 24 04 2012 by A G Airspeed sensor simulator The airspeed sensor in the aircraft will measure the increase in air pressure caused by the moving aircraft This sensor will send out an analog signal T
61. PIC18F6520 8520 6620 8620 6720 8720 Data sheet for the PIC18F8520 Author Microchip Last read 09 02 2012 by A G LM78LXX Series 3 Terminal Positive Regulators Data sheet for the LM78L05 PSU Author Texas Instruments Copyright 15 of January 2012 Last read 09 02 2012 by A G A4988 Data sheet Data sheet for the A4988 stepper controller Author Allegro Microsystems Inc Last read 10 02 2012 by A G DS18B20 temp sensor Datasheet http datasheets maxim ic com en ds DS 18B20 pdf Author Maxim Copyright 2008 Last Read 13 02 2012 SC IMC Error Reference source not found Picture HYPERLINK http dlnmh9ip6v2uc cloudfront net images products 10724 01 b jpg http dlInmh9ip6v2uc cloudfront net images products 10724 01b jpg Accelerometer datasheet http www sparkfun com datasheets Sensors Accelerometer ADXL345 pdf Author Analog Devices Copyright 2009 Last Read 13 02 2012 Gyro datasheet http www sparkfun com datasheets Sensors Gyro PS ITG 3200 00 01 4 pdf Author InvenSense Copyright 2009 Last Read 13 02 2012 Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 14 of 14 Magnetometer datasheet http dinmh9ip6v2uc cloudfront net datasheets Sensors Magneto HMC5883L FDS pdf Author HoneyWell Copyright 2010 Last Read 13 02 2012
62. Passed Software is divided up in classes with logical grouping This ensures easy readable code and possibilities for further developing 22 05 2012 K M R404 4 Passed can send information to SC and SC can read and process it 22 05 2012 K M R405 3 N T We have not written any software for testing these functions 22 05 2012 K M R407 3 Passed Control modes can be set through SC and is done automatically The system is also setup for development of autopilot 22 05 2012 K M R408 1 Passed The software we use for developing provides plenty of opportunities to further develop our system 22 05 2012 K M R409 1 Passed Commenting explains the coding and makes it easy readable 22 05 2012 K M Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Test Results Issue date 29 05 2012 Version 1 0 Page 7 of 10 R410 1 Passed We have made backup when there has 22 05 2012 K M been significant changes in the code This works as our version history R411 1 A Passed Moving the joystick moves the correct 22 05 2012 K M control surface R412 2 A N T This has to to with stall angle and this 23 05 2012 A G sensor is not mounted on our system the system is however ready for it R413 1 B Passed This function has not been
63. SC Software Class Diagram _ 14 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 1 INTRODUCTION This assignment was given to us by Equator Aircraft Norway to develop a new Fly By Wire system for their new P2 Excursion prototype Fly By Wire is a general name of an electronic control system for aircrafts it is mostly used in commercial airplanes fighter jets and other large airplanes The benefits of using a Fly By Wire system it is very versatile when it comes to pilot assistance options and easy implementation of new functions a survey conducted in 2010 in the USA it was concluded that more than 50 of all small plane accidents in the same year was a result of pilot miss control or pilot judgment This means that more than 50 of all small planes accidents could have been avoided by using a computer assisted steering system aka a Fly By Wire system And it stresses the need for such a system today Our task was therefore to develop a system that is redundant durable and it must be ready for implementation of safety functions Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Id skriv Oppgaven Oppgaven vi har mottat fra Equator Aircraft Norway er utvikle et Fly by Wire system for et to seters amfibiefly dag blir sm fly styrt mekanisk av stag og vaiere fra styrestikke og pedaler
64. T219 T220 T221 T222 T224 04 01 2012 A G K M T225 T226 T227 T228 1229 T230 T231 0 7 Updating the Responsibility 3 05 01 2012 A G 0 8 Deleted R303 grammar correction 05 01 2012 T A 1 0 Released Document 6 1 2012 O R Abbreviation list WSC gt SC IMU gt IMC Definitions 6 Priority B amp C Updated R205 amp T205 R216 8 7216 R405 IO OTAOTA AE Added R410 R413 amp T410 T413 Updated T413 T415 R413 R415 R407 T501 R505 R506 amp T506 T507 T508 1511 1513 1514 1516 R518 T611 1 2 Made 1416 R416 12 01 2012 Deleted R503 amp T503 R515 amp T515 R701 amp T701 Deleted R507 amp T507 R508 amp T508 R514 amp T514 R516 amp T516 R517 amp T517 Updated R611 amp T611 R706 amp T706 R709 amp T709 R712 amp T712 1 3 R716 amp T716 27 01 2012 A G Filled in R719 Made T719 Updated the abbreviation list IMC Updated R205 R305 2 8 T305 1 R306 1 8 T306 1 R308 1 amp 1 4 T308 1 R309 1 amp T309 1 R310 1 amp T310 1 15 05 2012 A G Deleted R217 amp T217 1 5 Small updates and adjustments on the text 19 05 2012 AG 2 Made the official revision 22 05 2012 A G Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 7 2 2 7 7 EZ 4 a NS EFE Test Results Bachelor Project Compact Fly by wire System 1 0 Released 29 05 2012 A G O R K M A G NOTES REGARDING
65. VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document Test Results Issue date 29 05 2012 Version 1 0 Page 2 of 10 TABLE OF CONTENTS 1 SGOPE COO 3 2 RESULT 20 0 xw 3 3 ABBREVIATION EEE Er 3 4 TESTS TO THE REQUIREMENTS erannnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 4 4 1 Environmental conditions 4 4 2 Overall system
66. amp SC power loss The Mechanical Corresponding Shortcut on Fracture on echanica Switch fails conductor conductor error 2R oR OR etie wees m Mem E path man Nature J failure conductor conductor N breaks switch OR breakdown breakdown Part of HMI Panel Description of the The Switches makes it possible for the pilot to manually switch between the subsystem MCC s And it is a safety factor if the SC fails Each Switch is powered by its respective MCC Consequence of If the SC is out of order and the switches fail it is a critical failure to the system total failure The pilot will not be able to switch MCC if the operating MCC fails the consequence can be fatal and the pilot has to options try to control the aircraft using the trim tabs on the control surfaces or pull the emergency parachute This is however only the case if the SC the operating MCC and the Switch fails at the same time MTBF 1 551 5 hours between faults Ref Excel diagram HMI Rev0 1 xlsx Time spent Hours 2 hours Owner and date A G 18 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 33 of 34 8 COMPACT FLY BY WIRE SYSTEM Here we integrate the results from the SC and HMI Panel to form the complete system fault tree
67. analysis Presentation Meeting HW research SW development Technical doc HW development Testing HW development 0 Test spec Project plan 2 4 Risk analysis Requirements 0 1 Presentation 6 SW development 6 Kjetil Project plan Requirements 6 2 Test spec 0 Risk analysis 0 Presentation 6 Project Axel Testing Setup 3 HW development evelopm 0 _ Requirements 9 Test spec 3 Risk analysis 0 SW development 0 Sindre Testing 2 Requirements Test spec 0 0 0 Risk analysis 2 Presentation 5 SW development 0 Setup HW development 2 2 Technical doc 7 HW development 0 Technical doc 5 Requirements Risk analysis Test spec 1 2 Thomas Setup 1 Test spec Requirements 3 0 Risk analysis 0 Presentation 6 HW research 2 EC LAT EDIE ME User Manual Compact Fly By Wire System Equator Aircraft Document USER MANUAL Issue date 28 05 2012 Version 1 0 Page 2 of 7 1 3 1 1 1 WELCOME Congratulations on your new P 2 Excursion Before you go flying please read this document carefully to ensure a safe and pleasant flight We want you to spend as much time to enjoy flying and as little time as possible on concerning for you safety This document will guide you step by step through the differen
68. be a source for EMI Time spent Hours Replaces None Schematics and graph http Awww national com appinfo webench scripts SD2 cgi ID 1 1 1 162 power riiserhob g Reference mail com Owner and date O R 18 1 2012 Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Version HARDWARE RESEARCH REV1 0 Issue date 22 05 2012 1 0 Page 22 of 34 Part of Logic supply Description Will regulate the power from 13 8 V down to 5V needed for the logic circuits Critical component function Output current up to 1 5A Internal thermal overload protection Internal short circuit current limiting Min input voltage 7V Max input voltage 25V Output voltage 5V 0 2V Operating temperature 0 125C Output noise voltage 40microV Positive aspects Cheap high ripple noise rejection less components than the switching regulators and they are through hole Negative aspects Produces more heat but for the current consumption on our board it won t be a problem Time spent Hours 1 Replaces 6 13 1 Reference http www sparkfun com datasheets Components LM7805 pdf 02 02 2012 Owner and date O R 20 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 23 of
69. before pulling the joystick Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document USER MANUAL Issue date 28 05 2012 Version 1 0 Page 3 of 7 3 1 1 2 3 1 1 3 Roll The roll axis Sideways movement on the joystick controls the ailerons Pulling the joystick to the right will cause the aircraft to bank to the right and vice versa When banking the aircraft the stall soeed increases when SC is activated it will prevent a stall from happening by limiting the bank angle and increasing the speed WARNING When the SC is deactivated be aware that the stall speed increases when banking the aircraft Yaw The Yaw axis twisting movement on the joystick controls the rudder the nose wheel and the water rudder By twisting the joystick to the right the aircraft s horizontal direction will start pointing to the right When the aircraft is located on water a small water rudder will ensure maneuverability on the sea by twisting the joystick to the right during forward movement the aircraft will turn to the right When the landing gear is activated and the aircraft is located on a runway the yaw axis controls the nose wheel Twisting the yaw axis to the right will Display turn the nose wheel to the right and the Heading setpoint aircraft will turn right Altitude setpoint 3 1 2 Autopi lot The autopilot can be activated from the joystick by using the
70. com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 19 of 34 6 SUPERVISION CARD We consider the SC as an independent system in this chapter and divide it into several smaller subsystems to ensure a less extensive system analysis Fault tree diagram SC fails 13 8V 5V Power 3 3V Power LPC1768 Power loss loss loss fail Compact Fly by wire Project system Drawing SC Overview FTA Author Date S A 17 04 2012 Revision 0 2 Part of This is the FTA of the SC Description of the This is the entire SC FTA system The SC automatically chooses the operating system MCC SC can also be used to supervise the control inputs from the pilot and as autopilot Consequence of Total failure of the SC means that the airplane does not choose MCC by itself if total failure it fails Therefore the pilot has to manually choose which MCC who is operating by the HMI panel The pilot will not have the extra functions to improve the overall flight experience either MTBF 9 976 7 Hours between failures Ref Excel diagram SC Rev0 2 xlsx Time spent Hours 2 hours Owner and date S A 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 20 of 34 Fault tree diagram 13 8V Power loss
71. dust sand and other foreign elements will decrease the lifespan Time spent Hours 2 Replaces N A Reference http www controlengeurope com article 38145 Potentiometers suffering because of the failure of a few in harsh environments aspx 06 02 2012 Owner and date S A 06 02 2012 6 10 Connector Part of MCC and SC Background We need to decide which connectors that shall be used on the PCBs to connect de different parts of the system Critical component function The connectors must be resistant to vibration It is important because It is a lot of vibration in the plane and we do not the connectors to disconnect Positive aspects This connectors are resistant to vibration This component is through hole mounted Negative aspects Time spent Hours 2 Replaces N A Reference https www elfaelektronikk no elfa3 no_no elfa init do item 43 951 26 13 02 2012 https www elfaelektronikk no elfa3 no_no elfa init do item 43 959 28 amp toc 19792 13 02 2012 Owner and date R L 13 02 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 15 of 34 Part of MCC Background We need to find a suitable connector for the joystick on the MCC Critical component function Transmit anal
72. fails the system will not be able to detect or prevent the total failure aircraft from stalling It is not a critical failure to the system function however it is advisable to fix the problem as soon as possible of safety reasons MTBF 28 365 8 Hours between failures Ref Excel diagram SC Rev0 2 xIsx Time spent Hours 2 hours Owner and date A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 27 of 34 Fault tree diagram Airspeed sensor fail OR Tr Mechanical error shortcut on Conductor SV Power Fracture on conductors i Conductive debris creates shortcut on copper path Moisture creates shortcuts on copper path 5v 13 8 V Regulator Power loss breakdo wn shortcut between broken wires sharp object cause fracture on copper path Wire loosen from sensor Broken Mechanical disturbanc Dislocation Mechani cal wear copper path on sensor of sensor Broken wires A Compact Fly by wire system Project Drawing FTA Airspeed Sensor Author Date A G 17 03 2012 Generator Battery Revision 0 1 breakdown breakdown Part of SC Description of the The airspeed sensor measures the airflow around
73. failure Mechanical failure OR The sensors Jovstick fail Fracture on shortcut on copper path OR 5 3 2 1 3 H 5 Moisture creates shortcuts copper Conductive debris creates shortcut on copper path Fracture on Fracture on shortcuts copper path a 5 5 13 3 Compact Fly by wire E Author Date S A 18 04 2012 Revision 0 3 Project Drawing Joystick FTA Sharp object fracture copper Sharp object fracture copper path Mechani cal wear cal wear Part of MCC Description of the The joystick will transfer the pilots desired action into electrical signals which go subsystem to the microcontroller on the MCC and further control the control surfaces Consequence of If the joystick fails the airplane will be out of control We therefore have a triple total failure redundant joystick where every set of the axes are connected to their own MCC card If the mechanical failure occurs the problem cannot be fixed by changing MCC and the pilot will have to try to fix it If not the system has failed MTBF 121 212 1 hours between failures Ref Excel diagram MCC Rev0 2 xIsx Time spent Hours 2 hour Owner and date S A A G 18 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft
74. h breakdo ommunicat Autopilot creates shortcuts shortcuts ion lines unit to shortcut on on copper copper wn path path loosen copper path OR Compact Fly by wire system Autopilot FTA S A 16 03 2012 0 1 Project Sharp Drawing object fracture copper path Author Date Revision Mechani Broken wires cal wear Battery breakdown Part of SC Description of the The autopilot is able to operate the airplane through calculations and subsystem predetermined preferences Consequence of If the autopilot fails the SC will not be able to operate the airplane through it but total failure it will still be able to automatically change if something happens and have all the other functions MTBF 36 464 8 Hours between failures Ref Excel diagram SC RevO 2 xlsx Time spent Hours 1 hour Owner and date S A 16 03 2012 Equator Aircraft Norway amp Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 30 of 34 7 HMI PANEL Fault tree diagram otal Analog HMI failure Compact Fly by wire Project system Drawing HMI Overview FTA Author Date S A 18 04 2012 Revision 0 2 Part of This is the FTA of the HMI Description of the This is the entire HMI FTA system The HMI panel consists of LEDs and system switches indicating whic
75. hamworthy com Tlf 328 51 995 Gruppemedlemmer Ole Anders Riiser Axel Gravningsbr ten Thomas Andersen 21 r 23 r 22 r Studerer Kybernetikk Studerer Kybernetikk Studerer Embeddded systems Epost riiserhob gmail com Epost axl gb3Qgmail com Epost thomasandersen01 gmail com 480 24 862 Tlf 905 44 419 Tlf 461 31 909 Sindre Andersen Runar L ken Kjetil Mj s 21 r 21 r 23 r Studerer Kybernetikk Studerer Kybernetikk Studerer Kybernetikk Epost sindre andersen90Qgmail com Epost runarlokQgmail com Epost kjetil mjosQgmail com 414 08 967 452 39 863 Tlf 416 88 340 2 2 2 I 9 EZ 4 a NS EFE PROJECT PLAN Bachelor Project Compact Fly by wire System 2 Released 25 05 2012 A G O R K M R L S A and T A NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the timeof printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written cons
76. has their own stepper controller for actuation of the control surfaces The stepper motors on the control surfaces has a really high life expectancy so they don t need redundancy The three MCCs needs supervision so they don t overrides each other and this is why we have the supervisor card SC The supervisor card receives information from all the MCCs and decides which one that is in command and controls the control surfaces We have also a USB host port on the supervisor so it can be interfaced with an android device for easy access to information and you can control various parts of the system with the autopilot The SC also contains a lot of sensors for measuring the planes orientation velocity and height which can be used as pilot assistance and reference for autopilot The sensors we have included are Internal sensors e Accelerometer Gyroscope Magnetometer Barometer GPS External sensors e Ultrasonic range sensor e Airspeed sensor Angle of attack sensor HMI Panel Supervisor aa Ce stroller 2 ed Stepper Motors Controller 1 LJ Figure 1 System diagram Equator Aircraft Norway i mail Gequatoraircraft com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 4 of 15 3 2 The Main Controller Card 3 2 1 Introduction JE ERT DERE Inf vr Main Controller Card Number Equator P2 Excursion ON G
77. is responsible for giving crucial information on redundancy to others in the group that are working on different aspects of the system The person s responsible are also the key designers of the redundancy of the total system Circuit design The circuit design responsible has the main response for the layout and design of the circuit board 13 10 Documentation The person s responsible for the documentation is expected to have full overview of all the documents in the Dropbox folder as well as arrange the documents in an orderly manner The document responsible will check that all the documents follow the project group s document standards and that everyone has signed the documents before they are delivered 48 hours 2 work days prior to the presentations Prior to the presentations the document responsible will also burn all the documentation on a CD and he is responsible for not publishing sensitive information according to the contract with the client 13 11 Actuator Responsible for finding a suitable motor actuator for controlling the ailerons elevator rudder and nose wheel Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 18 9118 14 REVISIONS Responsible person for this document procedure or template 01 First Draft Milestones and Group policy 01 1
78. it until it we are satisfied with the product One Iteration might last from 1 day up to 10 days Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 Page 6 of 18 7 1 Cumulative cost Progress 2 Identify and resolve risks 1 Determine objectives i utraments Operational tenen endi A pd Detailed design Implementation 4 Plan the Release next iteration 3 Development and Test Figure 1 The spiral model The four phases Inception In this phase we should find the requirements and the limits of the project it is also required that we discuss risks and costs Design and usability should also be planed Elaboration Here we should plan architecture and system requirements It is also expected to find risks and approach to the problem before we go further in the process In this phase it is time for producing a prototype work further with the design and demonstrates the product for the contractor Construction This phase includes developing of the program and the circuit We should develop this product as fast as possible so the contractors can test the product and give feedback Transition Means that we should test the prototype to find faults which we should repair before developing the complete product Equator Aircraft Norway mail Gequatoraircraft com www equatorairc
79. kg 17 2 mH inductance per phase in bipolar setup Recommended power supply 24VDC min 1 7A in bipolar setup Recommended controller reference power 1 4V 0 85A per phase bipolar setup Positive aspects Cheap ability to be controlled as a bipolar stepper motor which yields higher torque Lightweight Negative aspects N A Time spent Hours Replaces N A Reference http www ebay com itm Sanyo 2 Ph Step Stepper Motors CNC Router 103H5208 10U41 Nema 17 Frame Hobby NEW 300657930592 Robotics amp hash item46009bf160zht 6992wt 1270 Owner and date K M 02 02 6 19 Inertial Measuring Part of SC Background We need to measure the position of the airplane in order to implement autopilot and to check if the pilot makes any critical errors We have found a lot of ways to do this but we need atleast two sensors A gyroscope and a accelerometer The gyroscope measures the angular velocity and the accelerometer measures the forces the plane is exposed to These two sensors can be combined in software to get a great result Critical component function They need to give accurate readings and be easy and accessible and have a fast response time The Sparkfun 9 degrees of freedom uses interface which has a very fast data rate and conversion time compared to analog outputs Positive aspects c bus very small footprint and it has everything we ne
80. of the control surfaces on a display Priority 6 The P2 excursion is an amphibious aircraft hence it can do the first test flights on water and it is therefore not that important to implement the actuator for the nose wheel though it is desirable Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 9 of 18 8 2 6 Priority 7 Make a user friendly interface and make it compatible with Android 9 BUDGET Organizing Budget Presentations 400 Documentation 400 9 1 1 Presentations This represents the costs associated with the presentations This can be things we have to buy to make a better presentation and coffee to the audience 9 1 2 Documentation This is expenses like Printing of documents binders separators and such 9 2 Materials Budget The materials budget will contain all expected expenses incurred in this period which deals with the construction of the different solutions through the whole period This is only an estimate and may vary with the solutions we come up with We divide the materials budget into different groups indicating the period costs incurred Research 2000 Construction Stepper motors 5000 Production PCB 2500 Other Components 1500 Sum 11000 Testing 1500 Total 12500 9 2 1 Research We have to see which of the
81. of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided 2 2 2 I 9 A Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 2 of 15 TABLE OF CONTENTS 2 PURPOSE E 3 3 THE SYSTEM vie 3 3 1 g PEKERE EE 3 3 2 The Main Controller 4 3 2 1 CUO m 4 3 2 2 Where to find 7 3 2 3 An 5 3 3 The SUPCIVISOM ss 8 3 3 1 Tag
82. phase type 103H5208 10U41 NEMA 17 28 6 19 Mea atng een 28 6 19 1 9 degrees of freedom accelerometer 28 6 19 2 Level conversion for 29 6 19 3 This is not needed after the change of Microcontroller which operates at 3 3V 29 6 20 Linear voltage regulator 29 OAM EEEB UE 29 0202 LM 78050 30 6 21 Gurrentregulaltors ione an 30 6 21 1 Current regulator with 5 30 6 21 2 Current regulator with one output on 10 31 6 21 8 This is not needed because of the current regulators on the stepper controllers 31 6 22 AMI LEDS Em 31 6223 Status LEDS HM ees girls iit ease 31 6222 Status LEDS EMI eese ati utn daira atic adie ane e EAR ETE de 32 6 23 Ground plane on PCB ci ees gees a etre 32 6 23 1 Separate ground planes w one small connection between analog and digital ground plane 6 23 2 6 23 3 6 24 6 24 1 6 24 2 7 32 Moated ground plane
83. proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document HAROWARE RESEARCH Issue date 22 05 2012 REV1 0 Version 1 0 Page 2 of 34 TABLE OF CONTENTS 1 OF TABLES pce 4 2 SCOPE 4 3 PURPOSE une 4 4 ABBREVATION dati desnessecedevetede vans sacseveetedecine 4 5 HARDWARE RESEARCH 5 5 1 1 Name of the 5 6 HARDWARE GROUPS 5 6 1 ERES 5 6 1 1 5 6 1 2 NO Greer 6 6 1 3 PC BC art COM ne
84. self explained to be 03 01 2012 commented T409 1 Confirm proper commenting 03 01 2012 O R R410 1 Program versions to be managed by revisions and 03 01 2012 A G revisions history T410 1 Check that the programming history and revisions 10 01 2012 A G are correct R411 1 The prime function modules 03 01 2012 A G Control planes actuation rudder water rudder elevator amp ailerons Nose gear actuation T411 1 Check that the output corresponds with the input 10 01 2012 A G 412 2 Monitoring of supervisor control functions 10 01 2012 A G 7412 1 Confirm that the supervisor control functions are 10 01 2012 enabled by exceeding the limits set by the supervisor and confirm that the status is updated R413 1 Receive and store data from the IMC on the SC 10 01 2012 O R 7413 1 Confirm that the data is received and stored on 12 01 2012 A G the SC R414 2 The SC is monitoring the selection of MCC 12 01 2012 A G 7414 1 Confirm that the operating is monitored by 12 01 2012 A G the SC R415 2 Display the selection of MCC to the pilot 12 01 2012 T415 1 Confirm that the operating MCC is displayed to 12 01 2012 the pilot R416 1 Display the status of the MCC s to the pilot Not 12 01 2012 A G working standby and operating T416 1 Confirm that the status of the MCC s is displayed to the pilot 12 01 2012 A G Equator Aircraft Norway mail e
85. solutions we come up with which is the best to solve our problem To do this we need to construct and try different circuits and use different types of components to decide If the school holds any of the components we need we will borrow them Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 Page 10 of 18 9 22 9 2 3 10 10 1 Construction When we have decided which of the solutions that is the best we have chosen the components that we need Therefore we have to order the decided parts and get them soldered The costs of this spot also contain printing on a PCB and different cosmetically components Testing When we are finished constructing our product we will test if it actually works like it s supposed to If it doesn t we maybe have to buy other components This point will apply together with 5 2 2 Construction TIME SCHEDULE Phase 1 Inception September 5th January 12th In this phase of the project we have just started up and at the beginning we don t even know which project we are doing yet This had to be done as fast as possible In the meantime we could figure out a lot of ground rules for the project and there are a lot of things that has to be done before we can start the problem solving part of the task In addition to finding a task we have to set up a lot of document templates tha
86. the aircraft and therefore subsystem measures the airspeed of the airplane Consequence of If the airspeed sensor fails it is not possible to measure the actual airspeed of total failure the aircraft However the GPS measures the ground speed so the pilot has a certain indication of the speed He will however not know for certain the amount of lift generated since this is a result of the airspeed All in all it is not a critical failure to the system as long as the pilot is aware of it MTBF 28 365 8 Hours between failures Ref Excel diagram SC RevO 2 xlsx Time spent Hours 2 hours Owner and date A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 28 of 34 1 0 Page Fault tree diagram 5V Power loss 13 8V Power loss Broken copper path Battery breakdown Generator breakdown Broken Barometer sensor fail OR Tr Fracture on conductors Mechanical error shortcut on Conductor OR Moisture creates shortcuts on copper path Conductive debris creates shortcut on copper path shortcut between broken wires 5v Regulator breakdo wn sharp object cause Wire loosen from sensor Mechanical disturbanc e on sensor Dislocati
87. the group should follow in order to operate smoothly together Everyone will meet up at the appointed time by omission notify in good time Factual communication and acceptance All documents is collected in the Equator_HiBu_2012 dropbox folder Democracy is used to meet agreement The roles as chairman and secretary will be changed at each meeting Everyone will be given tasks and they are expected to do the best they can to solve them 12 4 About the contractor Equator Aircraft Norway SA was established in 2011 1 The idea was born when industrial designer Tomas Bredreskift met Guenter Poeschel in 2008 Guenter Poeschel is a mechanical engineer GA test pilot and aircraft constructor He started working on his aviation visions over 40 years ago He founded Equator Aircraft Company GmbH in Ulm Germany in 1974 Poeschel was way ahead of aircraft designers around the world and his old designs still represent some of the most innovative thoughts in the industry even today Tomas later teamed up with mechanic industrial designer and professional pilot yvind Berven and continued developing the P2 now P2 Excursion With this Equator Aircraft Norway SA was established early 2011 Today Equator Aircraft Norway is a consortium of idealists from all over the world They believe in an open and idealistic approach where each member can apply a small amount of resources and see their dreams come alive They offer diffe
88. tree diagram 13 8V Power loss MCC Fuse blows Generator breakdown SV Power loss regulato Battery breakdown Power LED fail OR Conductive debris creates shortcut on copper path Voltage Broken wire shortcuts copper path Moisture creates shortcuts on copper path Sharp object fracture copper path Vibratio ns cause unit to loosen r fails Mechani cal wear Compact Fly by wire system Power LED FTA 12 03 2012 Project Drawing Author Date S A Revision 0 1 wires Part of MCC Description of the The Power LED indicates whether the MCC is ON or OFF subsystem Consequence of The pilot will not get any information if the card is on or off If only the Power total failure LED fails it will not affect the aircrafts maneuverability If the pilot wants to see the power LED on he will have to change MCC MTBF 36 412 2 Hours Between failures Ref Excel diagram Common Rev0 2 xIsx Time spent Hours 1 hour Owner and date S A 12 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 10 of 34 Fault tree diagram 5 V Power loss 13 8 V Power loss OR
89. we take these loops are called iterations One cycle in the process is approximately equal to the waterfall model The RUP model is an iterative model which focuses on the risk early in the process It is important to have an overview over the different risks that can affect the project By focusing on the risks that can occur we are able to make some precautions which can help us prevent these risks or if they still happen we have a plan how to solve the problem Because we do the same process a lot of times this will help us to learn in the development process and the process will be improved for every cycle The RUP model is initially a software model and since we do not have a pure software project we have to modify the model a bit to fit our project In our project the loops will be a bit different from the loops in a pure software project We will have several iterations on every activity as they go along which means that we will have some cycles going parallel in time This will help us to find mistakes and improve the subsystem before we put all the different subsystems together and start the iterations on the entire system in the test phase The RUP model is based on a lot of elements that shows how the product should be and what skills that are needed to satisfy the requirements The three main elements are roles tasks and work products The roles define different skills and competencies It also defines what responsibility the differ
90. 01 2012 T A R605 1 Backward movement move the elevator upwards 02 01 2012 A G and vice versa T605 1 Control that output is as expected 03 01 2012 O R R606 2 Joystick movement angle pitch axis 25 from 03 01 2012 A G zero position forward direction T606 2 Control that the joystick can twist 25 in the pitch 03 01 2012 T A axis R607 2 Joystick movement torque pitch and roll 100 03 01 2012 A G 500g cm from zero to max in each direction for pitch and roll T607 2 Confirm that the joystick torque is within the given 03 01 2012 O R range R608 1 The sideways movement on the joystick roll 02 01 2012 A G control the ailerons T608 1 Control that output is as expected 03 01 2012 T A R609 1 Left movement on the joystick move the left 02 01 2012 A G aileron upwards and the right aileron downwards and vice versa T609 1 Control that output is as expected 03 01 2012 O R Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 12 of 14 R610 2 Joystick movement angle roll axis 25 from 03 01 2012 A G zero position T610 2 Control that the joystick can twist 25 in the roll 03 01 2012 T A axis R611 3 Redundancy output signals from joystick 27 01 2012 K M T611 4 Confirm the redundancy two or more outputs 27 01 2012
91. 012 Version 1 0 Page 4 of 14 4 SYSTEM DIAGRAM The system we make 1 replacement for the old manual steering system for light airplanes It is supposed to mimic the movements that the old system has but also prevent critical pilot errors like stall angle etc The system can also be implemented with autopilot etc for computer assisted flight The system Figure 1 consists of three Main controller cards MCC which by itself can control the airplane alone But because we don t always trust electronics we make the system triple redundant They get joystick readings from a triple redundant joystick which has three axes and has their own stepper controller for actuation of the control surfaces The stepper motors on the control surfaces has a really high life expectancy so they don t need redundancy The three MCCs needs supervision so they do not overrides each other and this is why we have the supervisor card SC The supervisor card receives information from all the MCCs and decides which to be in control of the control surfaces The SC also contains lot of sensors for measuring the planes orientation velocity and height which can be used as pilot assistance and reference for autopilot The sensors we have included are Internal sensors Accelerometer Gyroscope Magnetometer Barometer GPS External sensors Ultrasonic range Airspeed sensor Angle of attack Sensor ensor Supervisor
92. 07 05 2012 Metal plates brackets Biltema 73 S A Paid 14 05 2012 Shrink tube Biltema 25 A G Unpaid 15 05 2012 Tape Biltema 35 S A Paid 15 05 2012 Spraypaint wood sanding 180 S A Paid 17 04 2012 paper Maxbo Hokksund Ties Biltema 46 A G Unpaid 19 05 2012 Table 3 Purchased items 6 RESULT Post Buge Spent Result Research 2000 0 2000 Stepper Motors 5000 260 4740 PCB Production 2500 2303 197 Other Components 1500 6745 5245 Testing 1500 500 1000 SUM 12500 9808 2692 7 REVISIONS Responsible person for this document procedure or template Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com 5 ACCOUNTING Document DOCUMENT REV1 0 Issue date 29 05 2012 Version 1 0 Page 5 of 5 0 1 Made table for accounting 12 01 2011 S A 0 2 Updated Purchase lists 09 02 2012 S A 10 Checked for errors and approved Added the result table 22 05 2012 S A for better overview O R Table 4 Revisions Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com COMPLETE TIME SHEET Sindre Runar Thomas Setup 1 Project plan 2 48 Requirements 3 0 Test spec 4 12 Risk analysis 5 0 Presentation 6 27 Meeting 7 30 5 HW research 8 10 5 SW development 9 270 Technical doc 10 24 HW development 11 0 Testing 13 53 Setup Project plan Requirements Test spec Risk
93. 1 2011 A G 02 Description of responsibilities 22 11 2011 A G 03 Goals for the project and priority 1 5 23 11 2011 A G 04 Description of responsibilities Tasks Conditions The group 25 11 2011 and Project documentation Added Group information and delivery details added time 05 schedule updated responsible areas added activities 182201 OF 06 Small grammatical changes to some of the text 19 12 2011 A G Filled in IMU definition Edited and made new priority 1 of updated 5 1 6 11 and heading 1 1 1 2 and 1 3 eure 08 Made new priority 2 21 12 2011 A G Made budget history of the contractor and phases of the project Added new milestone introduction and purpose Updated table captions and added table list Updated K M S A 09 project objectives Removed priority 4 Updated phase 03 01 2011 O R amp dates and text Updated responsible person list and dates of A G document hand in Cosmetic changes to tables Revised responsibilities s Made table of figures and Project model RUP Deets AGE 1 0 First Release 6 1 2012 O R Updating web information 1 1 Updating project model 11 01 2012 R L Updated phases 1 2 Updating project model 13 01 2012 R L 1 3 Updating Activity numbers 16 1 2012 1 4 Updated and edited 8 Project model 23 02 2012 A G 1 5 Updated activities 07 03 2012 S A 1 6 Updated 13 DESCRIPTION OF Responsibilities 11 05 2012 A G 2 0 Made final revision did some small changes 23 05 2012 A G Table 14 Lis
94. 16 of 34 6 10 5 We decided to not spend more time on this issue and used standard DuPont Connector this has 0 1 spacing So these can be replaced by others 6 11 Power connector Part of MCC Background The other connectors we use cannot carry enough current for our stepper motors So we need a connector that can carry enough current gt 10amp We found a connector which can carry up to 35 amperes Ampinnergy556879 2 and Ampinnergy556882 2 Connector amp Contact Critical component function The connector needs to carry at least ten amperes and needs to be spring loaded Positive aspects High current rating and heavy duty construction Negative aspects Big footprint Time spent Hours 3 Replaces 6 10 1 Reference Product link Last read 08 03 2012 Owner and date O R 08 03 2012 Part of MCC Background The other connectors we use cannot carry enough current for our stepper motors So we need a connector that can carry enough current gt 10amp Critical The connector needs to carry at least ten amperes and needs to be spring loaded component function Positive This connector can handle currents up to 24A and cable thickness up to 2 5mm aspects The connector is small W L H 13mm 14 5mm 16 7mm Negative The connection point is 45 135 with the circuit board aspects Time 2 spent Hours Replaces 6 11 1 Reference 1 http search digik
95. 18 Technical Meetings with supervisors and planning 10 01 2012 29 03 2012 15 Starting on the accounting 10 01 2012 29 03 2012 4 Updating the webpage 10 01 2012 29 03 2012 15 Second presentation 20 02 2012 29 03 2012 40 Setting up a risk analysis 10 01 2012 29 03 2012 4 Write the Technical Document 20 01 2012 29 03 2012 60 Writing the weekly Status Report 10 01 2012 29 03 2012 70 Writing Fail probability document 20 01 2012 29 03 2012 35 Writing the Final Document 01 02 2012 29 03 2012 70 Software Development 10 01 2012 29 03 2012 640 Hardware development 10 01 2012 29 03 2012 800 Testing 10 01 2012 29 03 2012 150 Table 6 List of activities phase 2 10 3 Phase 3 Construction April 11th May 29 This phase starts immediately after the second presentation This is the last phase and is where we test everything together After this stage all Do all the testing defined in the test specification Finish all the technical documents Do the main software development Writing technical documents Table 7 List of important tasks phase 3 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 Page 13 of 18 Technical Meetings with supervisors and planning 29
96. 2 Passed There is a spare Al terminal on SC for the angle of attack sensor 19 05 2012 A G R225 2 Passed SC is set up with a port handling the manual activation of the autopilot 15 05 2012 A G R226 2 Passed SC is set up with a port handling the manual activation of the gyro stabilization 15 05 2012 A G R227 2 Passed The SC does have climb rate 2xDI heading set point 2xDI and an altitude set point 2 0 implemented for the autopilot The SC does all the calculations and sends out a control signal directly to the stepper controller on the operating MCC 15 05 2012 A G R228 2 Passed With regards to the hardware the SC is ready for communication with an Android Tablet which can be used as a display The SC also has spare connectors which can be used for the LCD display for the autopilot 15 05 2012 A G R229 2 Passed With regards to the hardware the SC is ready for an Android tablet 15 05 2012 A G R230 2 Passed Both the MCC s and the SC has spare DO connectors In addition a green and a red LED are connected on the HMI panel for both SC and all the MCC s to indicate the status of the cards 15 05 2012 A G R231 2 Passed The USB is standardized and can charge at 5V 15 05 2012 A G R232 2 Passed The weight of one stepper motor is less than 300grams The weight of the rest of the mechanism
97. 2 O R velocity R719 2 Minimum resolution of nose gear 1 steps degree 27 01 2012 A G T719 1 Confirm that the resolution of the nose gear is 27 01 2012 A G more than 1 step degree 6 RESPONSIBILITY Axel Gravningsbraaten is responsible for updating and controlling the requirements in this document and Ole A Riiser is responsible for updating and controlling the Tests Axel Gravningsbraaten Responsible for the requirements Ole A Riiser Responsible for the Tests Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 14 of 14 7 REVISIONS 0 1 Filled in requirement list 16 12 2011 O R Made test req T201 T202 T205 T207 T208 T209 T210 T211 0 2 T212 213 T214 T507 T302 Updated req list to rev 0 6 and 19 12 2011 updated table 2 2 2 3 and 2 4 A G Updated T205 T208 T209 T210 T211 T212 213 T214 T302 0 3 Made T301 T204 T501 T503 T504 T505 T506 T507 T508 20 12 2011 T503 A G 0 4 Made test for Joystick control surfaces and software 03 01 2012 Uptaded T207 Made 0 5 T216 T217 T218 T219 T220 T221 T222 T223 T224 T225 03 01 2012 T226 T227 T228 T229 T230 T231 T232 R L Made some cosmetic changes to all tables put in References 0 6 Updatet T207 T216 T217 T218
98. 21 2 The system must be open for additional external inputs using NMEA 0183 3 serial protocol 03 01 2012 A G T221 2 To test this we have to connect the NMEA 0183 serial protocol to our system and see if the communication is according to the protocol 04 01 2012 R L R222 2 The system must be open for additional external inputs from gyro reference platform 03 01 2012 A G T222 2 In this test we can simply test if the additional external inputs are able to receive the proper data 04 01 2012 R L R223 2 The system must be open for additional external input from Compass direction signal 03 01 2012 A G T223 1 To check this we have to add an external compass and see that it corresponds with our system 03 01 2012 R L R224 2 The system must be open for additional external input from angle of attack sensor 03 01 2012 A G T224 2 We will here connect an external angle of attack sensor to our system and observe that the system receives the proper data 04 01 2012 R L R225 2 The system must be open for additional manual activation of autopilot ON OFF 1x DI 03 01 2012 A G T225 2 The activation is a simple ON OFF switch so here we have to check if the system is able to receive the Digital signal And further give the command to the joystick off or give the command to the autopilot 04 01 2012 R L R226 2
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100. 2SRX CLK CAP3 0 PO 24JADO 1 I2SRX WS CAP3 1 PO 25VADO 2 ISZSRX SDA TXD3 PO 26 ADO 3 AOUT RXD3 PO 27J SDAO USB SDA PO 28JSCLO USB SCL PO 29 USB D PO 30JUSB D LPC1768 OJPWM1 1yTXD1 1 PWM1 2J RXD1 2 PWM1 3YCTS1 TRACEDATA 3 3JPWM1 4JDCD1 TRACEDATA 2 AJPWM1 BJ DSR1 TRACEDATA 1 TDO SWO 5yPWMT S DTR1 TRACEDATA 0 TDI GPCAP1 OJRH TRACECLK TMS SWDIO 7yRD2 RTS1 TRST BJTD2 TXD2 TCK SWDCLK 9 5 CONNECT RXD2 RTCK 10 EINTO NMI RSTOUT 11 VEINT1 I2STX RESET 12 2 25 WS XTAL1 13J EINT3 I2STX SDA XTAL2 RTCX1 25 21 RTCX2 26 STCLK MATO 1 PWM1 13 28 RX_CLK MAT2 0 TXD3 VREFP N O0 oco gt gt gt gt gt gt o o o s 0 PC1768 3 3V 3 3V R16 R11 1 5K 1 5K E USB LINK POW LED LED GREEN LED GREEN USB_LINK_GOOD 29 MCLK MAT2 1 RXD3 VREFN VDDA VSS A REG 3V3 3V3 3V3 3V3 3V3 VDD VDD VDD VDD VDD gt e o V 3 3VOLT GPS1 3 3VOLT Z GPS TX GPS RX GPS 46 47 98 99 81 80 79 78 77 76 48 49 62 63 61 60 59 gt SPARE15 gt gt TD1 lt INTERNAL VOLTAGE READ 8 lt External Voltage Read AIRSPEED lt STALL SENSOR CL SDA cL SCL gt USB D gt USB D lt GPS TX gt GPS RX gt MCC1 TX LV lt 1 RX gt GREEN STATUS LED gt RED STATUS LED gt SPARE11 gt SPARE10 gt
101. 3 01 2012 T A and control surfaces requirements R707 R710 A R713 R718 T401 2 Measure calculation time should be less than 03 01 2012 T A 5ms Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 9 of 14 R402 2 Software to be designed in modules for easy 03 01 2012 further development T402 2 Confirm modular development 03 01 2012 T A R404 4 Access to system status on the SC 12 01 2012 O R T404 3 Update system status frequently to be sure that 03 01 2012 O R we have the correct system status R405 3 Advanced function modules 10 01 2012 O R Stall inhibit Autopilot from gyro compass platform Autopilot from GPS reference T405 2 Confirm that that we can get data from these 03 01 2012 O R sensors and that we can get an output from simulating a change from these R407 3 Easy selection of control modes in flight 12 01 2012 O R T407 2 Confirm that we can change from autopilot to manual flight and don t lose any functionality R408 1 Software development tools must be of high level 03 01 2012 A G language type with debugging and simulation facilities for fast development of code T408 1 Confirm that we have chosen a good development 03 01 2012 tool R409 1 All program statements not
102. 3 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 7 of 34 4 COMMON UNITS FOR SC AND To keep the document as short as possible we have made this chapter for components that are used on both the MCC and the SC Fault tree diagram 13 8V Power loss OR Generator breakdown Broken wires Battery breakdown Sharp object fracture copper path Voltage Fracture on copper path OR DU Vibratio ns cause unit to loosen Broken wire shortcuts copper path Compact Fly by wire system Voltage read 13 8V FTA 15 03 2012 0 2 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Part of MCC Description of the The voltage reader measures the voltage right after the connector on the MCC subsystem Consequence of The pilot will not get any information about the voltages on the card If only the total failure Voltage reader fails it will not affect the flights maneuverability If the pilot wants to get the voltage information he will have to change MCC MTBF 83 589 0 Hours Between failures Ref Excel diagram Common RevO 2 xlsx Time spent Hours 1 hour Owner and date S A 12 03 2012 Document Fault tree analysis Issue date 29 05
103. 34 6 14 Choosing MCC Signal Part of MCC Background We have multiple MCC and an SC that has to choose which of the MCCs that will control the stepper motors on the control surfaces Actuator Figure 5 Actuator signal routing Critical component function We need to make sure that only one of the signals can make it to the stepper driver without any interference from the other signals as they still are available for use Positive aspects This is an easy controllable system which isolates every other signals efficiently Negative aspects This is a critical part of the system that cannot fail so if the power supply to this circuit fails the system is useless We also need one multiplexer per signal to the stepper controller which can take a lot of space on the PCB Time spent Hours 3 Replaces N A Reference http Awww electronics tutorials ws combination comb 2 html Owner and date O R 26 1 2012 Part of MCC Background We have multiple MCCs that can control the stepper motors Critical component function We have to find a way to control that only one MCC can control the stepper motors at any given time This option is that we can implement five stepper controllers on each MCC and use the enable pins on these controllers to choose which of the MCCs stats in charge of the stepper motors Positive aspects This removes the single failure aspect of th
104. 5 05 2012 A G R510 1 Passed Three MCC s is sufficient according to the Fault Three Analysis 15 05 2012 A G R511 1 Passed The and the SC are prepared for interface 15 05 2012 A G Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Test Results Issue date 29 05 2012 Version R512 1 Passed 1 0 Page By disabling the stepper controllers on the MCC in standby mode they are able to do all calculations and operate as normal without sending commands to the motors 15 05 2012 8 of 10 A G R513 1 Passed The HMI panel is working and the MCCs can be chosen manually 29 05 2012 A G R518 2 Passed The SC does have all required interface with more than 30 reserve capacity on l O s 15 05 2012 A G R519 1 Passed All PCB s are two layered But with as few surface mounted components as possible for better vibration resistance 15 05 2012 A G 4 6 Joystick R601 1 Passed The output is according to the requirement 16 05 2012 A G R612 1 Passed The output is according to the requirement 16 05 2012 A G R602 2 Passed N T The joystick we use for testing can twist 90 Equator Aircraft Norway must make sure the joystick to be used is according to the requirements 16 05 2012 A G
105. 9 2 1 2 GPS Product Link http www sparkfun com products 10921 Last Read 13 02 2012 GPS Datasheet http dinmhYip6v2uc cloudfront net datasheets Sensors GPS Venus638FLPx pdf Author SkyTrack Technology Copyright 2008 Version 0 7 Last Read 13 02 2012 10 REVISIONS Responsible person for this document procedure or template 0 1 Made the template wrote the purpose updated references 09 02 2012 S A A G Made 5 1 1 LM2596 5 1 2 LM78L05 0 2 Made 4 3 1 Temperature DS18B20 5 2 1 744052 5 3 1 IMC 10 02 2012 O R A G 5 3 2 GPS 0 3 Made 6 1 1 analog HMI 22 02 2012 0 4 Updating 4 2 stepper controller 07 03 2012 R L 0 5 Changed document name and filled in overview 19 03 2012 O R 0 6 Changed main PSU 5 1 1 20 3 2012 0 7 Making chapter for simulator hardware 15 05 2012 R L 0 8 Updated the document 23 05 2012 O R A G 1 0 Official release 23 05 2012 A G Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 4 ALTAE UNS HARDWARE RESEARCH DOCUMENT Compact Fly By Wire System 7 2 9 Released 22 05 2012 O R A G Knut br dreskift NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the timeof printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity
106. ATION 15 13 DESCRIPTION OF 16 13 1 Project manager ua Se 16 13 2 Economy and budgeting 16 13 3 re 16 13 4 e 16 13 5 tau mia eos a Ee AR 17 13 6 17 13 7 RISK 2 17 13 8 17 13 9 eeu EUM 17 13 10 Documentation 5e Saa 17 SEE eri LEE 17 14 REVISIONS pe 18 1 LIST OF TABLES Table 1 Abbr viation 4 3 4 Table 4 List of important tasks in phase 1 10 T ble 5 List of activities phase Teesra iaa SAA tex pe hive 11 Table 6 List of important tasks phase 2 nennen 11 Table 7 List of activities phase 2 roten lai 12 Table 8 List of important tasks phase 3 12 Table 9 List of activities phase 3 2 EAA 13 Table 10 List of group 14 Table 11 List OF SUuperViSors 14 Table 12 List over project
107. C24 C31 2 C14 C15 1 20 1 26 Integrated Circuits 5 DISTANCE 2 MCC 3 STALL ANALOG HMI SPARE1 AUTOPILOT SPARE2 J1 BAROMETER DS18B20 GPS1 IMUL 32 34 LD111733 7805 MCC1 ISP LED USB LINK PTC1 PTC8 100n 10uF 1uF 470u LPC1768 74HCT365 LM3526 BSS138 2x2 Header 0 1 4x2 Header 0 1 5x2 Header 0 1 BAROMETER D518B20 GPS IMU 5mm pitch USB 3 3Volt REgulator 5v Regulator 3x2 Header 0 1 LED GREEN 0 25A PolyFuse Resistor network Isolated 5 RESISTOR NETWORK 1 RESISTOR NETWORK 5 D Dropbox equator_hibu_2012 Proteus sc 0 2 DSN CODE ceramic Type Tantalum Type Electrolytic Type 50v LPC Core Board from ebay Standard Breakout From sparkFun Electronics http www sparkfun com products 9694 http www sparkfun com products 10921 Breakoutboard from sparkfun Electronics http www sparkfun com products 10724 Breakoutboard from sparkfun Electronics ED2237 4 7k ohm const int BAUD_RATE const int MESSAGE LENGTH const int HEADER FIELD1 LENGTH const int HEADER FIELD2 LENGTH const int BODY LENGTH char received MESSAGE LENGTH void transmitComparable char 088 extractHeaderField 1 void extractHeaderField2 const float voltagelntemalGain const float voltageE xternalGain const unsigned short R
108. DEDI Generator breakdown Sharp object fracture copper path 7805 SV regulator Fracture on conductor bad onnectivit R D Broken Fracture on Regulator wires copper path loosening Battery breakdown Vibration s cause the unit to loosen Mechanical wear creates fracture on conductor Dislocati on of heat sink Regulator shutdown shortcut on copper path OR OR External heat Broken wire shortcuts Moisture creates shortcuts on copper Conductive debris creates shortcut on copper path Part of SC Description of the The 5V regulator will convert the 13 8V voltage into a linear 5V power supply for subsystem the microcontroller on the SC Consequence of If the 5V voltage regulator fails this will lead to total failure of the SC This will total failure lead to loss of all the functions the SC provide The pilot therefore needs to change MCC manually if something happens and will be warned by a light on the HMI that he needs to land the airplane and get the problem sorted out MTBF 66 836 6 Hours between failures Ref Excel diagram SC Rev0 2 xIsx Time spent Hours 1 hour Owner and date S A A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version
109. ES SHIFT int temp int getTemperature const unsigned short TEMP RESOLUTION const float MOTOR RESOLUTION const float GEAR const float CONTROLSURFACE_RESOLUTION const int MIN PITCH const int PITCH const int MIN ROLL const int ROLL const int MIN YAW initializeJoystick void joystickRead void calculatePercentages int getJoystickPitch int getJoystickYaw void mcc1ExtractHeader mec2ExtractHeader void requestElevatorFe edbackSte ps int void UARTO Init void UARTO SendByte int unsigned char UARTO_GetString int void UARTO Send String unsigned char void Init void sint UART1 SendBytelint sint UART1_GetChar void unsigned char UART1_GetString int void UART1_Send String unsigned char void UART2_Init void sint UART2 SendByte int sint UART2 GetChar void unsigned char UART2_GetString int
110. F CONTENTS Introduction 1 ldea FCO aii a mms 2 Project Pla 3 Risk 4 Accounting 5 Sheet qj 6 UserMantial o 4 Ssdctetunseccenenteatsoscescesarteascessebentes 7 Technical Manual 4 00 6 55 4 8 Hardware 9 Hardware 14 10 Software 04 1 2 2 11 Fault Tree Analysis 12 Requirements 8 Test Specification 13 Test Results 4 14 Additional Tests 4 15 Improvement recommendations eee 16 17 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com APPENDIX One wire Diagram lt lt 1 Overview 2 SC 3 System Topology oo oO sete tains imenuttaesndwachemcasantaenactaaudeses 4 MCC Wiring Diagram 4 5 SC Wiring Diagram gt 6 HMI Wiring Diagram 7 TerminalBlock utd 8 MCC Schematic LEA cou nue 9 SC Schematic 10 Bill of Materials MCC 1 2 11 Bill of Materials SC eene 12 MCC Software Class Diagram 14 13
111. Features Flight Model Freeze Initial Position Rendering generic serial in 30 COM9 9600 Rx_Tx Debugging Protocol new Delete Clouds Medium serial gt Direction M Hz 30 Port Baud Rate 2600 Generic z Figure 5 Advanced Options FlightGear is no running and screen in figure 6 is shown If everything is correctly done the simulator is ready to be used If there is an error the loading screen in figure 6 will not respond and the simulator does not start Then it can be an idea to start FlightGear with nothing added in figure 5 just delete the Input Output properties This to be sure that the PC is able to run FlightGear Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 13 of 15 FlightGear has been started Please wait RUTAN Long EZ To change aircraft exit FlightGear and return to this launcher Scenarios aircraft_demo balloon demo bigstorm demo clemenceau demo droptank demo gt Deselect all TerraSyne 505 Callsign The Rutan touch 2 Show command line Advanced 5 Defaults Load Save As Prev Run Quit When the FlightGear is running it is possible to check the parameters we want to control To chec
112. Hours between failures Ref Excel diagram SC Rev0 2 xIsx Time spent Hours 1 hours Owner and date A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 26 of 34 Fault tree diagram 5V Power loss 13 8V Power loss Broken copper path Generator Battery breakdown breakdown Stall sensor fail Fracture on Mechanical conductors error shortcut on Conductor OR Moisture creates shortcuts on copper path Conductive debris creates shortcut on copper path 5v Regulator breakdo wn shortcut between broken wires sharp object cause fracture on copper path Wire loosen from sensor Mechanical disturbanc e on sensor Mechani cal wear Dislocation of sensor Broken wires Compact Fly by wire system FTA Stall Sensor Project Drawing Author Date Revision 17 03 2012 0 1 Part of SC Description of the The stall sensor measures the angle of attack of the airplane and by knowing subsystem the stall limit of the airplane the maximum angle of attack can be calculated and the system can prevent the aircraft ending up in stall or deep stall Consequence of If the stall sensor
113. ITION SENSO kasse ER 3 1 1 1 1 Photo Interrupter 57 3 1 1 1 2 OHM Linear Taper Rotary Potentiometer 5 3 1 1 2 Airspeed sensor 41 iaaa nnn nennen nennen nes 3 1 1 3 Angle of attack sensor 10 nennen eren 3 1 1 4 Distance sensor simulato x vii vice 3 1 1 5 Autopilot set point buttons simulator nennen 3 1 1 6 Nose wheel Down up sensor 4 1 2 Sensor CADIS d 4 1 3 EE 4 1 3 1 ate ied 4 1 3 2 EMT 4 1 4 5 1 4 1 edad ey neti nda eevee 5 1 4 2 Test Results eee Error Bookmark not defined 2 reni et dee ct sc unm ey ce LIE 5 2 1 jc 5 2 1 1 5 21 1 1 Schemiatictest aee eras Rande cete hen de ce edd 5 2 1 2 LAYOUT test 6 Lu SEE OUR CI 6 2 1 3 Parallel stepper controllers aoreet rie rne rn etsi tare e n EA uua 7 2 1 8 1 Stepper controller redundancy test 7 3 REVISIONS eee 8 Equator Aircraft
114. MCC2 TX LV lt MCC2 RX gt SPARE16 lt RsT BAROMETER BAROMETER Regulators USB_PPWR gt USB OVRCR lt LED Driver RED STATUS LED RED LED LM3526 Q1 BSS138 GREEN STATUS LED GREEN LED USB_PWRD Q2 BSS138 USB_Current MCC1 TX LV gt MCC2 TX LV gt MCC3 TX LV gt LD111733 3 3Volt 74HCT365 Compact Fly by Wire Supervision Card Sensors and IC Author Ole Riiser Version 1 Date 21 05 2012 MCC1 RX PREFITLER MCC1 TX PREFITLER DTR_RST PREFILTER RTS_ISP PREFILTER MCC2 RX PREFITLER MCC2 TX PREFITLER MCC3 RX PREFITLER MCC3 TX PREFITLER 26640401RP2 3 3V STALL STALL SENSOR prefilter 26640401RP2 3 3V AIRSPEED AIRSPEED prefilter 26640401RP2 PTC2 DISTANCE RANGE PWM PREFILTER RANGE ENABLE PREFILTER 3 3V 26640401RP2 External Connectors DISABLE SUPERVISOR MCC2 PREFILTER HEADING DECREASE prefilter CLIMB DECREASE prefilter ALTITUDE INCREASE prefilter RED LED 3 3VOLT AUTOPILOT HEADING INCREASE prefilter CLIMB INCREASE prefilter ALTITUDE DECREASE prefilter AUTOPILOT ENABLE prefilter DISABLE SUPERVISOR 1 PREFILTER DISABLE SUPERVISOR MCC3 PREFILTER GREEN LED USB_PWRD gt 3 3V PTC7 0 1 SPARE1 SPARE1 SPARES SPARES SPARE6 SPARE2 SPARE4 26640801RP2 SPARE2 SPARE7 1 2 SPARES SPARE9 5 lt SPARE10 SPARE11 7 3 SPARE12 SPARE13 5 10 S
115. MELINE 11 1 Milestones Our milestones are important dates for our projects These milestone dates are dates when our project is done with important tasks and phases 1 presentation 10 of January 2012 Sending circuit board for printing 16 April Primary software functions 15 March 274 presentation April 23 Mars 2012 First System function test 2 May The system shall be finished 18 May 3 presentation 2 June 12 June 2012 NOGPON gt 12 PROJECT ORGANIZATION 12 1 The Group Sindre Andersen 21 Cybernetics Sindre andersen90 gmail com Tlf 414 08 967 Thomas Andersen 23 Embedded Systems Thomasandersen01 gmail com Tlf 461 31 909 KjetilMj s 23 Cybernetics Kjetil mjos gmail com Tlf 416 88 340 Axel Gravningsbr ten 24 Cybernetics Axl gb3Qgmail com TIf 905 44 419 RunarL ken 22 Cybernetics runarlok gmail com Tlf 452 39 863 Ole Anders Riiser 21 Cybernetics riiserhob gmail com Tlf 480 24 862 Table 9 List of group members 12 2 Supervisors Knut Br dreskift kbrodreskift hamworthy com Sigmund Gudvangen Sigmund gudvangen hibu no Olaf Hallan Graven Olaf hallan graven hibu no Table 10 List of supervisors Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 15 of 18 12 3 Group policy There are a set of rules the members of
116. ND 5V Figure 2 MCC Part Description 1 7805 5V regulator for Analog Circuitry Warning The output voltage from this regulator needs to be lower than the voltage in 2 we mounted regulators on 1 that was at least 50 100mV Every 7805 has a slightly different output voltage 2 7805 5V regulator as a power supply this regulator supplies 5v to everything except the analog circuitry 3 PIC18F8520 breakout board from mikroelectronika 4 RC filter to protect every input the resistor network is 5 isolated resistors 5 Voltage read by voltage division 6 DS18B20 temperature sensor one wire protocol 7 Stepper Controller for one stepper motor 8 9 Programming connector for PICKIT2 programmer 10 Power Connector 7v 25V input 11 PTC fuse this blocks 5v to connector if current exceeds 0 25A 12 470uF capacitor to remove transients Another note that is important is the standardization of the connectors 5v is always on Pin1 marked on the board and GND is on the second last pin as drawn on the board This is the default on all connectors Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 5 of 15 3 2 2 Software The development of software for the main controller cards is done using MicroC Pro for PIC A link to the download page for the software is found here http www mikroe com eng p
117. NITIONS Priority Requirements that are essential for the function of the system Requirements that will give extra functionality to the system such as additional external inputs preparations for indicators and displays etc Also safety features such as stall inhibitor landing gear specifications modular design etc Generally the requirements are essential for the system to be approved and put to Priority production regarding safety and usability Requirements that will give extra ordinary functionality to the system such as software configured for GPS Gyro Autopilot and other functions that will give extensive usability to Priority the system Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 5 of 14 5 REQUIREMENTS amp TEST SPECIFICATION 5 1 COMMENTS When the project is due the airplane is not finished for us to mount our system Therefore we will not be able to do a SAT on the system Some of the requirements and tests in this document is for the final product and are meant as guidelines for us We will however not be able to test these fully or test them at all when this is the case itis commented in the Test description 5 2 Environmental conditions R102 4 Temperature range between 30C 70 02 01 2012 O R 02 01 2012 A
118. NW 2B NW 26640601RP2 GND C ST R 1BR 1AR 2AR 2BR 26640601RP2 GND C ST LA 1B LA 2ALA 2BLA 26640601RP2 RX PREFILTERED 5V LINEAR DIGITAL SENSOR LA PREFILTERED ANALOG POSITION LA PREFILTERED ANALOG BOSTON R BREFLTERED 26640401RP2 GND 5V LINEAR S E PTC7 i 1 DIGITAL SENSOR PREFILTERED 01 ANALOG POSITION PREFILTERED 26640401RP2 GND Connectors 5V BUCK SPARE1 SPARE Alt 1 PREFILTER SPARE Al12 PREFILTER SPARE AH3 PREFILTER 26640601RP2 SPARE2 SPARE Al21 PREFILTER SPARE AI22 PREFILTER 26640401RP2 Compact Fly by Wire Main Controller Card Component schematic Author Sindre Andersen Version 1 Date 21 05 2012 RESISTOR NETWORK 4 RESISTOR NETWORK 1 Mce 1 enable Analog Position RA prefiltered YAW 1 PREFILTERED 1 Analog Position YAW 1 Digital Sensor RA prefiltered ROLL 1 PREFILTERED Digital Sensor RA ROLL 1 Analog Position E prefiltered PITCH 1 PREFILTERED Analog Position E PITCH 1 Digital Sensor E prefiltered Analog Position NW prefiltered Digital Sensor E Analog Position NW Digital Sensor NW prefiltered Digital Sensor NW CONN H10 CONN H10 Mcc 2 enable Mcc 3 enable Analog Position NW Digital Sensor NW J2 RESISTOR NETWORK 2 SPARE_AI13 PREFILTER 1 _ 1 enable prefiltered SPARE_AI12 Prefilter Mcc 1 enable _ 2 2 enable prefiltered SPARE_AI11 PREFILTER 2 enable SPARE_AI11 Mcc 3 enable prefilt
119. P1A57HRJ00F 5K OHM Linear Taper Rotary 7 1 1 1 Motor position sensor 1 1 2 24 04 2012 A G Potentiometer 5KB B5K Pot Airspeed sensor simulator amp 1 1 3 Angle of attack sensor simulator Momentary buttons 6 1 1 5 Autopilot set point buttons 24 04 2012 A G simulator Toggle Switch 1 1 1 6 Nose wheel Down up sensor 25 04 2012 A G simulator 1 3 Template 1 3 1 Test Plan Test Name Priority Budgeted hours Description Why How Owner Date 1 3 2 Test Result Success Name rate Accumulated hours Result description Necessary changes Owner Date Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Additional Tests Issue date 29 05 2012 Version 1 0 Page 5 of 8 1 4 Cables 1 4 1 Test Plan 2 21 Signal interference Priority Budgeted hours 7h The analog cable from the joystick to the MCC may be vulnerable to magnetic Description interference from the generator and from surrounding noise sources We need to make sure that the analog signals are disturbed as little as possible from Why the joystick to the MCC We will send some analogue signals trough a normal signal cable in the EMC room at HiBu We will then measure the signal loss We will repeat the test for a shielded cable and comp
120. PARE14 SPARE15 SPARE16 26641001RP2 26641001RP2 PTC6 0 1 Compact Fly by Wire Supervision Card External Connector schematic Author Ole Riiser Version 1 Date 21 05 2012 RC filter Caps Input filtering R RC resistors ALTITUDE INCREASE ALTITUDE DECREASE PREFILTER CLIMB INCR ALTITUDE DECREASE CLIMB DECREASE PREFILTER AUTOPILOT ENABLE C7 RESISTOR NETWORK 1 CLIMB DECREASE ALTITUDE DECREASE 100n C11 RESISTOR NETWGQBiS1N INCREASE PREFILTER 100n RTS ISP PREFILTER HEADING INCREASE RTS ISP CONN H10 MCC1 RX PREFITLER MCC1 RX MCC1 TX PREFITLER MCC1 TX RESISTOR NETWORK 2 DISABLE SUPERVISOR prefilter DISABLE SUPERVISOR MCC3 DISABLE SUPERVISOR MCC2 prefilter DISABLE SUPERVISOR MCC2 CONN H10 DISABLE SUPERVISOR prefilter DISABLE SUPERVISOR MCC1 ILOT ENABLE PREFILTER RESISTOR NETWORK 4 AjToPILOT ENABLE STALL SENSOR PREFILTER ALTITUDE INCREASE PREFILTER STALL SENSOR ALTITUDE INCREASE AIRSPEED PREFILTER CONN H10 AIRSPEED RANGE PWM PREFILTER RANGE PWM RANGE ENABLE PREFILTER RESISTOR NETWORK 3 RANGE ENABLE SfofofNfofafafofro CLIMB INCREASE PREFILTER CLIMB INCREASE HEADING DECREASE PREFILTER C1 0 HEADING DECREASE lt 59 29 DTR_RST PREFILTER DTR_RST MCC2 RX PREFITLER CONN H10 MCC2 RX MCC2 TX PREFITLER Decoupling ee MCC3 RX MCC3 TX PREFITLER MCC3 TX 1 CONN H10 T C4 o e o o o 2 o m 13 8V
121. PI interface 3 I2C bus interfaces 2 input plus 2 output I25 bus interface 8 channel 12 bit ADC 10 bit DAC motor control PWM Quadrature Encoder interface 4 general purpose timers 6 output I O general purpose PWM ultra low power Real Time Clock specification http Awww sparkfun com products 9931 Price 20USD References ics nxp com products lpc1000 datasheet lpc177x Ipc178x pdf Author date 16 04 2012 6 3 Sensors Schematic drawing http dinmh9ip6v2uc cloudfront net datasheets Sensors IMU 9DoF Stick v13 pdf Author Sparkfun electronics Last Read 13 02 2012 This is a sensor card that will give us information about the position of the plane and where it s heading This module has an accelerometer gyroscope and a Description magnetometer Compass built in Module made by Sparkfun Electronics Gives us data about heading direction Magnetometer angular velocity in three Function dimensions Gyroscope and acceleration forces in three axis Accelerometer specification 2 Bus has a built in 3 3v regulator Vin amp 16v Footprint 4 connector holes with 0 1 spacing Price 99USD References http www sparkfun com products 10724 last read 13 02 2012 Author date 13 02 2012 Schematic drawing http www sparkfun com datasheets GPS Modules Venus GPS v15sma pdf Author SparkFun Electronics Last Read 13 02 2012 This is a G
122. PS module that will give us positioning data height ground speed Description and clock Function Gives positioning data height ground speed and time This device communicates over a serial line and will be connected t the I O specification multiplexer described in this document Error Reference source not found Vin amp Imax 3 3v regulated 29mA load current Footprint Four connector holes with 0 1 spacing Price 49 USD Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 10 of 14 References http Awww sparkfun com products 1 1058 13 02 2012 Author date O R 7 ANALOG HMI Schematic drawing Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com SV out 1 When the analog HMI is activated the SC will be set to Standby mode SV out SV out Project name Drawing Author Date Revision Compact fly by wire system Analog HMI function A G 22 02 2012 0 3 Document System Description Issue date 26 05 2012 Version 1 0 Page 11 of 14 PN MCC3 Switch SVDC MCC3 S MCC2 Switch 5VDC MCC2 3 gt MCC1 Switch SVDC MCC1 gt lg 9 m 2 E e S Analog HMI gt
123. ROLLER C27 NW CONTROLLER Enable Controller NW Reset Controller NW Step NW 13 8V 2B NW 1ANW 5V BUCK E NW PULLUP 26641601RP2 R CONTROLLER Enable Controller Reset Controller R Step R 13 8V 2BR 1AR 5V BUCK 26641601RP2 LA CONTROLLER Enable Controller Reset Controller LA Step LA 13 8V 2B LA 1ALA 5V BUCK 26641601RP2 RA CONTROLLER Enable Controller Reset Controller RA Step RA 13 8V 2B RA 1A RA 5V BUCK 26641601RP2 E CONTROLLER Enable Controller Reset Controller Step E 13 8V 2BE Q1AE 5V BUCK 26641601RP2 Stepper Controllers Direction NW GND 2A NW 1BNW GND Direction R GND 2AR 1BR GND Direction LA GND 2A LA 1BLA GND Direction RA GND 2A RA 1BRA GND Direction E GND 2AE 1BE GND PACKAGE POWER COMMECTOR 5V LINEAR GND Roll 1 prefiltered Yaw 1 prefiltered 26640601 RP2 5V BUCK Pitch 1 prefiltered 1B RA 1ARA 2 2B RA 26640601RP2 GND C ST E 1 1AE 2AE 2BE 26640601RP2 5V LINEAR DIGITAL SENSOR NW PREFILTERED ANALOG POSITION NW PREFILTERED Mcc 3 enable prefiltered 20640401RF2 2 enable pi filtered Mcc 1 enable prefiltered GND LED Red regulated Status LED Green regulated 5V LINEAR S R DIGITAL SENSOR R PREFILTERED GND 0 1 ANALOG POSITION R PREFILTERED SC 26640401RP2 TX PREFILTERED GND 26640401RP2 Sc COMMON C ST NW 1 NW 1ANW 2A
124. Stepper 15 5 1 5 7805 Linear Voltage Regulator 5 16 5 1 6 Stepper Position SENSON 17 5 1 7 18 6 SUPERVISION CARD 19 6 1 1 pPML 19 6 1 2 Acero 20 6 1 3 ROI ric EEN A E E 21 6 1 4 768 22 6 1 5 ic 23 6 1 6 GP 24 6 1 7 BJELE Ta 03 1 0 pL aes 25 6 1 8 Stall 26 6 1 9 EE gem 27 6 1 10 sti 28 UP oom 29 7 HMIEPANEL eee 30 7 1 1 30 7 1 2 c 31 7 1 3 ES cm 32 8 COMPACT FLY BY WIRE SYSTEM rrrnnnnnnnvnnnnvnnnnvnnnnnvnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnr 33 8 1 1 FTA Complete system with MCC2 backup sse nnne ener 33 9 gizgsid elle tous 34 10 REVISIONS AS 4 Equat
125. T The resolution of the stepper motor is 200steps 360 with the gearing 10x 2000 steps 360 5 5 steps degree 16 05 2012 A G R712 2 N T This has to be tested by Equator Aircraft Norway when the system is mounted on the aircraft 23 05 2012 A G 713 2 This has to be tested by Equator Aircraft Norway when the system is mounted on the aircraft 23 05 2012 A G R714 1 Passed N T The resolution of the stepper motor is 200steps 360 with the gearing 10x 2000 steps 360 5 5 steps degree 16 05 2012 A G R716 2 N T This has to be tested by Equator Aircraft Norway when the system is mounted on the aircraft 23 05 2012 A G Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Test Results Issue date 29 05 2012 Version R717 1 1 0 Page Passed The Nose gear movement is dependent N T on the gearing However the movement of the stepper motor is totally dependent on the SW The actual resolution of the stepper motor must be calculated when the gearing of the motor is known 16 05 2012 10 of 10 A G R718 2 N T This has to be tested by Equator Aircraft Norway when the system is mounted on the aircraft 23 05 2012 A G R719 2 N T Equator Aircraft Norway have to make sure the resolution is according to the requirement
126. V K Linear output Less than 1ohm dynamic impedance Description Operates from 400microA to 5mA Critical component function Notifying the user that the temperature does not exceed critical limits Positive aspects Low cost Negative aspects Needs calibration Time spent Hours 1 Replaces N A Reference http www sparkfun com products 9438 Owner and date K M 02 02 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE RESEARCH Issue date 22 05 2012 REV1 0 Version 1 0 Page 18 of 34 Part of MCC and SC Description Temp limits 40 to 125C Critical component function Notifying the user that the temperature does not exceed critical limits Positive aspects Low cost Negative aspects Inaccurate Time spent Hours 1 Replaces N A Reference http www sparkfun com products 9438 Owner and date K M 02 02 Part of and SC Description Notifying the user that the temperature does not exceed critical limits Critical component function Power supply range 2 7 5 5V Temp limits 40 to 125C 2 Output 10mV C Linear output Positive aspects No calibration needed low cost Negative aspects Inaccurate Time spent Hours 1 Replaces N A Reference http www sparkfun com products 10988 Owner
127. a programmer debugger The ULINK programmer debugger will be supplied with the compact fly by wire product The USB cable connects to your computer and the other end connects to JTAG port on the supervisor see part 8 on Figure 6 To compile the code press the button To upload the code press the button The code is then loaded into the LPC controller The supervisor card needs to be restarted after the code is uploaded 5 2 gt ULINK 72 An ARM Com RUN Where to find Information Documents we used a lot while developing the system e Wiring Diagram for SC Here you can see where every wire is connected on the SC and which pin on the LPC1768 that goes to which connector e Configuration This is a great reference for programmers It is an Excel sheet with explanation on which pins that are used on the microcontrollers and what they interface with e Schematic for SC Self explanatory a schematic for the PCB e PCB Layout SC This requires the user to have the Proteus PCB Design Package but is a great way getting to know the PCB card and troubleshooting the circuit Simulator To the system it is programmed a software code in Arduino IDE and a XML file for communicate with an open source flight simulator called FligtGear This simulator can be downloaded from FlightGears homepage http www flightgear org 16 05 2012 Equator Aircraft Norway mail Gequatoraircraf
128. able 11 Risk 8 Description The probability that we damage the hardware Probability Unlikely We have to be careful when we are working with the hardware and use ESD Prevention protection when handling the circuit boards Consequence The hardware may be destroyed Solution Order new hardware if time allows Owner amp date S A R L 12 01 2012 Table 12 Risk 9 6 3 Working progress risks Description Some of our members become ill during the project Probability Very likely Prevention Each one has to be careful not to be ill Consequence We will have one less working person for a couple of days There should be at least two persons working with each task so the progress Solution will not stop because of one person Owner amp date S A R L 12 01 2012 Table 13 Risk 10 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Risk document Issue date 26 05 2012 Version 1 0 Page 7 of 8 Description Some of our members become injured during the project Probability Unlikely Prevention No one knows what tomorrow brings So we have to be careful Consequence We will have one less working person for a period There should be at least two persons working with each task so the progress Solution will not stop because of one person Owner amp date S A R L 12 01 2012 Tabl
129. aces anm Controller 1 v HMI Panel troller 2 A NENNEN 7 Stepper Motors Figure 1 System diagram Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 5 of 14 5 MAIN CONTROLLER CARD See Appendix 5 MCC Wiring Diagram Appendix 2 MCC Overview 5 1 Power Supply Unit Schematic drawing INPUT LM78LXX OUTPUT 1 C2 0 33uF 0 01 uF Description We have changed this regulator from a switching regulator since the estimated current consumption of the board is a lot less than expected We have estimated that the board will draw approximately 150mA which will produce 1 35watts of heat we consider using the ground plane as a heat sink Function Deliver a steady power supply to the logic circuits as well as the LEDs used 5V 0 2V I O specification Input Output 13 8V 4V 5V 0 2V GND N A Vin amp Imax 7 9V min 35Vmax amp load currents up to 1000mA MTBF 1002356520 hours Footprint TO 92 Price 1 USD References 7 1 1 4 LM 78L05 data sheet Author date O R 20 03 2012 Figure 2 Connectors On MCC Equator Aitcran norway mail equatoraircraft com ATAMAAANNY www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 6 of 14 5 2 S
130. address http www equatoraircraft com mail equatoraircraft com 47 970 39 469 Brugata 11 0186 Oslo Norway Maridalsveien 64C 0458 Oslo Norway EZ 4 LAT a NS EFE Hardware Description 7 2 9 Released 26 05 2012 A G O R A G NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document System Description Issue date 26 05 2012 Version 1 0 Page 2 of 14 TABLE OF CONTENTS 1 PURPOSE E E E
131. aft com ACCOUNTING Document DOCUMENT REV1 0 Issue date 29 05 2012 Version 1 0 Page 3 of 5 1 LIST OF TABLES Table 1 Abbreviations Deo Lese Lee deo Lee eeu osten 3 Table 2 Product purchase 2 2 ttr us 3 TALES REVISIONS ss 5 2 INTRODUCTION This document contains a list of purchased items during the project 3 ABBREVIATION K M Kjetil Mj s Axel Gravningsbraten S A Sindre Andersen T A Thomas Andersen R L Runar L ken O R Ole Riiser Table 1 Abbreviation 4 PRODUCT PURCHASE LIST Tape 29 S A Paid 03 01 12 Coffee for the first presentation 135 K M Paid 10 01 12 Biscuits for the first presentation 29 S A Paid 10 01 12 Paper plates amp plastic knives 37 A G Paid 12 01 12 Fuel for meeting 3 14 NOK L 196 A G Paid 08 02 12 Spraypaint and sanding paper 149 S A Paid 18 03 12 Coffe and biscuits for the second pres 175 S A Paid 18 04 12 Food for teambuilding and meeting with Knut 215 S A Paid 25 05 12 Table 2 Product purchase list Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 5 PARTS PURCHASE LIST IMU www sparkfun com order1 GPS www sparkfun com Order1 S A Paid 09 02 12 One wire www sparkfun com 47 order 2 S A Paid 09 02 12 PSU www ebay com S A 09 02 12 3 3V regulator www ebay com Order 2 S A Paid 09 02 12 Linear vo
132. agram SC Rev0 2 xIsx Time spent Hours 1 hour Owner and date S A 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 24 of 34 Fault tree diagram 3 3V Power loss 13 8 V Power loss Bro Generator breakdown Fracture on shortcut on copper path copper path OR Broken wire shortcuts copper path Moisture creates shortcuts on copper path Conductive debris creates shortcut on copper path Vibration cause the GPS to loosen 5 Regulator breakdo wn Fracture on ommunicat ion lines OR Compact Fly by wire system GPS FTA 16 03 2012 Project Sharp Drawing object fracture copper path Author Date S A Revision 0 1 Mechani Broken wires cal wear Battery breakdown Part of SC Description of the The GPS are able to calculate the airplanes position through satellites subsystem Consequence of If the GPS fails the autopilot will not be able to operate the airplane but the SC total failure will still be able to automatically change if something happens to it and have all the other functions The pilot will also not be able to get the airplanes position MTBF 29 449 0 Hours between failure
133. al purpose PWM ultra low power Real Time Clock http www sparkfun com products 9931 Positive aspects If this is used we can lower our part count and end up with a lot more power supervisor which has a USB interface and four UARTS And we are going to need all of them It is important to understand that this only applies to the SC and NOT the MCC Negative aspects A lot of configuration on the software side Time spent Hours 1 Replaces PIC18F8520 Reference Owner and date O R 03 05 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Version HARDWARE RESEARCH Issue date 22 05 2012 REV1 0 1 0 Page 27 of 34 6 17 Stepper controller Stepper motor controller is used to control the current going to the motor This controller needs to be used as a piggyback module on our MCC cards Part of MCC Description Control of the stepper motor Critical component function Max current 2A per coil motor voltage 35V Onboard voltage regulator A Five different step resolutions Positive aspects Built in current limiter open source Negative aspects Big size high cost Time spent Hours 2 Replaces N A Reference http www sparkfun com products 10735 Owner and date amp 02 02 Part of MCC Description
134. analysis Fault tree diagram Total system failure Total MCC Total HMI Power loss failure failure Battery Generator breakdown breakdown gt 2 ALARM HMI panel beaker activated Project Compact Fly by wire system FTA Complete System Drawing MCC2 failure Description of the This is the entire Compact fly by wire system The system we are developing system and in the end will control the aircraft For further description of the function of the MCC2 in the Fault tree diagram above Refer to Software Research Chapter State Failure Research We did not add the Stepper Motor in this FTA calculation because the stepper motor is outside of our system and it should therefore not affect our MTBF number There is possible to use more than one stepper motor for redundancy with MCC2 backup Author Date A G S A 19 04 2012 Revision 0 4 Part of This is the FTA of the entire system Consequence of Total failure means that the whole system has failed The Pilot then has two total failure choices 1 try to control the aircraft using the trim tabs on the control planes 2 pull the emergency parachute MTBF 2 307 825 hours between failures Ref Excel diagram Compact fly by wire system 0 2 5 According to requirement R310 1 the MTBF must exceed 800 000 hours Our system meets this requirement by a good margin Time spent Hours 4 hours
135. and date K M 02 02 Part of MCC and SC Each sensor has a unique 64bit address so it can be connected in a 1 wire network Temp limits 55 to 125C 0 5C Power supply range 3 5 5V Resolution is user selectable from 9 12 bits Description Converts temperature to 12 bit digital word in 750ms Critical component function Notifying the user that the temperature does not exceed critical limits Positive aspects No calibration needed Negative aspects A bit costy Around 4USD a piece more complicated than the analogue ones Time spent Hours 1 Replaces N A Reference htto www sparkfun com products 245 Owner and date K M 02 02 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 19 of 34 6 13 Power supply Part of Power supply We had a discussion with our external supervisor and we agreed that we would be Better off with buying a complete PSU circuit rather that make our own from scratch We therefore Background found one option that is really similar to the other options Critical component We need an efficient power supply which also has a stable output voltage function Positive Complete PSU for a very low price and easy implementation Lower ripple that the other aspects PSUs 5 Negative aspects Less control ov
136. are the results We also have to test the signal interference the power 5V is inducing on the signals from the potentiometers And then decide if we need to separate the signal cables and the power cables to the How joystick due to the interference Owner A G Date 25 01 2012 2 HARDWARE These test are not part of the requirements but are needed 2 1 MCC Description This test is the first to ensure that the circuit board is correct We are going to use isis to simulate the schematic and run a basic code on the microcontroller Why We need to confirm that our circuit is connected the way it is supposed to be This can save us a lot of time if we get the circuit right on the first try How We need to make a dummy code for our microcontroller that sets one pin high and then scans through all the pins on our controller In that way we can assure us that all of our connections is wired properly by measure voltage in our simulator This has to me done for both SC and MCC schematics Owner O R Date 7 03 2012 Success rate Accumulated hours 5 Result We made a simple code which toggles one pin on the microcontroller this went well description and everything was connected properly l Necessary changes N A Owner Date 12 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Documen
137. brations harsh environments lack of lubricant Has not got a limited lifespan Very useable in aviation and other vehicals Can be connected and directly replaced in a circuit constructed for potentiometers Negative aspects More expensive than a potentiometer Time spent Hours 2 Replaces Using potentiometer as a sensor in the joystick Reference http en wikipedia org wiki Inductive sensor 06 02 2012 http Awww controlengeurope com article 38145 Potentiometers suffering because of the failure of a few in harsh environments aspx 06 02 2012 Owner and date S A 06 02 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 14 of 34 Part of Joystick Background We need to have a sensor who registers movement in the joystick Critical component function Works as a Sensor and sends a simple analog signal to the MCC Positive aspects Simple cheap reliable in right working conditions well known Negative aspects Unreliable due to vibrations and harsh environments Mechanical measurement Has a limited lifespan 500 000 cycles for a good potentiometer If exposed to vibration the vibrations count as a cycle which will reduce the lifespan dramatically from several years to days because of mechanical wear Also attraction of
138. critical 03 01 2012 O R functions independently R510 1 B The MCC may be doubled or tripled if the failure 03 01 2012 A G tolerance analyses show an unacceptable failure risk T510 1 Confirm that the MTBF goal is achieved by using 03 01 2012 O R the needed number of MCC s R511 1 A The is prepared for interface with the SC 03 01 2012 A G T511 2 Confirm communication between the two cards 12 01 2012 O R R512 1 A All the MCC s not in use will be in active stand by 03 01 2012 A G mode T512 1 Confirm that the MCC s not in use receive and 03 01 2012 O R calculate data by debugging interface R513 1 A The operating MCC can be chosen manually by 03 01 2012 A G the pilot T513 2 Confirm that the chosen MCC becomes active 12 01 2012 O R when chosen R518 2 C SC to be designed for the described signal 12 01 2012 A G interface ref Software 8 4 and System function 8 2 with 20 reserved capacity on l O s for further development T518 1 Check that the number of interfaces is according 05 01 2012 O R to requirements in Software 8 4 System functions 8 2 and R518 R519 1 B The circuit boards to be of multi layer design with 03 01 2012 A G surface mounted components T519 1 Confirm that the circuit is of multi layer design and 05 01 2012 O R Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012
139. ctivities phase 1 10 2 Phase 2 Elaboration January 12th April 11th This is the phase where we design and develop the system In the end of this phase we have to be sure that priority 1 to 3 is solved and that they are ready to be implemented It is crucial that everybody in the group has defined tasks at all times From this phase and through the rest of the project the group have to deliver a Status Document each week This document contains An overview from the tasks every person worked on last week a plan over the tasks each person is going to work on next week a general summary of how the progress is according to the project plan make a summary of critical activities append timesheet from last week This phase ends up in the second presentation that has a technical perspective By this presentation most of the technical problems should be solved so we can discuss the solution with the supervisors and still have time to correct critical errors Set up a basic test rig Define all components needed Order the components Write the basis code for the system Make layouts for the PCB boards Do some functionality testing Develop a Redundant System Order PCBs Table 5 List of important tasks phase 2 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 12 of
140. daga 6 6 2 COMMUNICATION 6 6 2 1 Serial communication 6 6 2 2 Parallel d t EE 7 6 3 Communication between all 8 6 3 1 Me EE T 8 6 3 2 New controller LPG 1768 et aea De Fete eade 8 6 4 m E 9 6 4 1 0 25mm2 copper Cable creer ee erede ene 9 6 5 Sir nuom 9 6 5 1 No shielded cables for power and 0 9 6 5 2 Shield power and signal cables 9 6 5 3 Shield power and signal cables 10 6 6 Input protection for 10 6 6 1 Current resistor and Metal Oxide 10 6 6 2 Littelfuse 5 724 11 6 6 3 Input protection with R C 11 6 7 Decoupling capac o pee 12 6 7 1 T 12 6 8 Component package 51 eene 12 6 8 1 Surface mount
141. date 29 05 2012 Version 1 0 Page 4 7 Control surface R702 1 N T The rotating angle on the stepper motor depends on the SW parameters Equator Aircraft Norway must make sure the control surfaces can move according to the standards 16 05 2012 9 of 10 A G R703 1 N T The rotating angle on the stepper motor depends on the SW parameters Equator Aircraft Norway must make sure the control surfaces can move according to the standards 16 05 2012 A G R704 1 N T The rotating angle on the stepper motor depends on the SW parameters Equator Aircraft Norway must make sure the control surfaces can move according to the standards 16 05 2012 A G R706 2 N T This test cannot be tested with our test bench 21 05 2012 O R R707 2 N T This test cannot be done without proper loading and gear ratio But on our test bench with 1 1 gear ratio we are way within that requirement 21 05 2012 O R R708 1 Passed N T The resolution of the stepper motor is 200steps 360 with the gearing 10x 2000 steps 360 5 5 steps degree 16 05 2012 A G R709 2 N T This has to be tested by Equator Aircraft Norway when the system is mounted on the aircraft 23 05 2012 A G R710 2 N T This has to be tested by Equator Aircraft Norway when the system is mounted on the aircraft 23 05 2012 A G R711 1 Passed N
142. depends on Equator Aircraft Norway 15 05 2012 A G Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Test Results Issue date 29 05 2012 Version 1 0 Page 6 of 10 4 3 Failure tolerance 301 2 A Passed This is tested and it works we however 23 05 2012 A G only use three choices one for each MCC R302 3 Passed Weuse triple modular redundancy instead 23 05 2012 A G of double R304 1 Passed We tested the stepper motors without any 15 05 2012 A G feedback During the test no steps were skipped R305 2 Passed Ref Fault Three Analysis 15 05 2012 A G R306 1 A Passed The stepper motors loose all retaining 15 05 2012 A G power when no power is connected The control plane will therefore run freely if the power supply is lost This must however be tested when the system is mounted by Equator Aircraft Norway R308 1 A Passed Each MCC can control it s two HMI LEDs 21 05 2012 to show the correct status to the pilot R309 1 Passed The failure tolerance and MTBF numbers 15 05 2012 A G are described in the Fault Three Analysis R310 1 A Passed Ref Fault Three Analysis 15 05 2012 A G 4 4 Software R401 2 A N T We are not able to test this requirement with our test bench The test must be done by Equator Aircraft Norway 23 05 2012 A G R402 2
143. drawing 4 99999 J i d 4 1 KSP Arduino MEGA ww arduino ass ANALOG IN m SV GND VIN rua Gua To the simulator communication we use Arduino Mega microcontroller This is connected the way the drawing shows with 4 switches that turns the different parameters on and off The serial lines are used to send data and the slide Description potmeter is used for throttle Digital Pin 3 Gear down Digital Pin 4 Magnetos Digital Pin 6 Start engine Digital Pin 7 Brake Analog Pin 3 Throttle Pin 18 Possible to send data from Flightgear to our system Pin 19 Receive data from our system specification USB port sending data to Flightgear from Arduino Mega Price 67 USD References Arduino Mega 2560 user manual Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 13 of 14 http arduino cc en Main ArduinoBoardMega2560 Last read 15 05 2012 Author date Runar L ken 15 05 2012 9 REFERENCES 9 1 9 1 1 1 Cards for BIGPIC5 development systems 9 1 1 2 9 1 1 3 9 1 1 4 9 1 1 5 9 2 9 2 1 1 Data sheet for the PIC18F8520 piggyback Author Micro Electronika Last read 09 02 2012 by A G
144. e 14 Risk 11 Description Someone quits school because of personal or professional reasons Probability Very unlikely Prevention We have to motivate and respect each other and work with teambuilding Consequence We will have one less working person for the rest of the project The other persons in the group have to divide the tasks to the missing person Solution between the remaining members of the group Owner amp date S A R L 12 01 2012 Table 15 Risk 12 Risk13 Lack of motivation Someone in the group get lack of motivation during the project which leads to Description bad working spirit Probability Possible Allow each other to decide working hours keep building team spirit and get Prevention through boring tasks Consequence The working progress will slow down Allow each other to decide working hours keep building team spirit and help Solution others through boring tasks Owner amp date S A R L 12 01 2012 Table 16 Risk 13 Description Losing our internal or and external supervisors Probability Very unlikely Prevention Arranging meeting and make conscientious effort Consequence We will get inadequate follow up Solution We have to find a new internal or and external supervisor Owner amp date S A R L 12 01 2012 Table 17 Risk 14 Equator Aircraft Norway mail equatoraircraft com www equatoraircraf
145. e equator p2 excursion aircraft The main functions of the system will be to control the flight control surfaces with a joystick without using mechanical transferring We are replacing the pedals with the yaw axis on the joystick and finding actuators for the control surfaces and the nose wheel The final result will be made for easy configuration and implementation of external control inputs such as autopilot and trim optimizer In order to be sure we start and finish the most important parts first we divided the tasks into different priorities We will start with priority 1 and continue to priority 7 Priority 1 The first priority is to make and finish the circuit board design and send it in for production This way we can start working with other problems until the circuit board returns from the supplier Priority 2 We need to find the best suitable Actuators stepper motors at an early stage so we can order them in early and be sure to have them before the last presentation in case the delivery time is long Priority 3 The airplane is not set up with pedals so the most important thing is to get the yaw axis of the joystick to turn the rudder without using mechanical transferring Priority 5 It is desirable with an easily configurable system with possibilities for external control inputs such as autopilot trim optimizer angle of attack limiter etc It should also be possible to read the desirable values and the actual positions
146. e other option Negative aspects The MCCs gets more expensive since it needs more HW Time spent Hours 4 Replaces 6 14 1 Reference Discussion with external supervisor Owner and date O R 09 02 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 24 of 34 6 15 Redundancy Part of MCC Background We use a dual triple redundancy setup on the joystick and MCC and we have some different options on how we connect all the redundant axis to the MCC s One option is to have all the redundant axis into all of the MCC s which will give every MCC the option to find the best signal source and use this Joystick Redundant 1 Redundant 2 Redundant 3 XYZ These signals will give the MCC the user a set point and needs to be isolated so we Critical component still have single failure tolerance The setup we try here will need extra circuitry for function this to function The MCCs can see which of the joystick reading that is the best and working Positive aspects properly This gives extra safety if made properly The risk with this is that one MCC has the access to all the joystick signals which in a worst case scenario can interfere with all the signals and corrupt them e g if one of the MCCs get destroyed due to mechanical stress This can als
147. ect the ISP module you need to disconnect 1 and use these connection points as described in the drawing 5 5 3 5 3 2 The Oval circle represents the shielding of the cable It must be terminated either to the GND common De bu g g er LT Project Name Compact Fly By Wire System connection points or to the Box where the PCB s are mounted in connected by a EMC clamp Airspeed Distance Drawing SC Wiring Diagram Sensor Sensor gt Author Date AG 21 05 2012 Revision 1 Analog HMI Panel HMI C4 SC A HMI SV 1 Disable SC MCC 1 P1 15 2 Analog HMI Disable SC MCC 2 P1 16 3 Disable SC MCC 3 P1 17 4 OE Supervisor Card Main Controller Card 3 Main Controller Card 2 LED Red 4 5 lt lt LED Green PO 5 6 GND 7 4 5 1 SV 2 MCC3 Enable 2 6 33 MCC2 Enable Green LED CY 4 MCC1 Enable 35 Red LED 5 6 6 Green LED _ Red LED 7 GND C3 HMI C3 MCC3 HMI C3 MCC3 C3 HMI 1 SV SV 1 2 MCC3 Enable MCC2 Enable RC2 2 2 Gen LED 4 MCC1 Enable AC MCC3 Enable RB5 4 53 i D Red RB 4 15 Red LED gt 5 6 6 Gre
148. ed to measure the planes angle in every direction Negative aspects High cost and it communicates on a 3 3 volt bus when the PIC is 5v this requires a level converter Time spent Hours 3 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE eee Issue date 22 05 2012 Version 1 0 Page 29 of 34 Replaces NA Reference http Awww sparkfun com products 10183 Last read 5 3 2012 Owner and date O R 5 03 2012 Part of Sc i c bus Background The IMC and barometer communicates over a 3 3v bus and the pic has a 5v interface Critical component This needs to be converted in both directions in order to function properly function Both from 5v gt 3 3v and from 3 3v gt 5v we can use a FET transistor to do this in this way g Figure 6 Logic translation Positive aspects We only need three basic parts to do the translation bidirectional And we need two of these setups in order to translate both SDA and SCL lines Negative aspects it is six parts we would like to not have in the board Time spent Hours 4 Replaces No translation Reference http Awww rocketnumbernine com 2009 04 10 5v 33v bidirectional level converter Last Read 05 03 2012 Owner and date O R 05 03 2012 6 19 3 This is not needed after the change of Microcontroller which operates at 3 3V 6 20 Linear vol
149. en LED LED Green RB3 6 Red LED 7 GND GND 7 HMI C2 MCC2 C3 HMI C2 MCC2 1 SV 2 MCC3 Enable 3 MCC2 Enable Green LED 4 MCC1 Enable s2 T C3 HMI 6 Green LED 5V 1 Red LED Z GND MCC1 Enable RC2 2 MCC2 Enable RB5 4 i LED Green RB3 6 2 MCC3 Enable GND 7 Ao 3 MCC2 Enable 0 0 Green LED 4 MCC1 Enable 51 5 Red LED E 6 Green LED Red LED 7 GND C3 HMI HMI C1 MCC1 C3 HMI 5V 1 MCC3 Enable RC2 2 MCC2 Enable RC4 3 Project Name Fly By Wire System MCC1 Enable RB5 4 Drawing HMI Wiring Diagram TILED Grean RB5 6 5 6 Author Date 21 05 2012 GND 7 7 Revision Main Controller Card 1 Sensor Motor side X1 X10 TOOW COOW COOW 1 All the terminal blocks X1 to X10 in the system topology and in the MCC wiring diagram consists of four connection points connected together with jumpers Project Name Compact Fly By Wire System Drawing Terminal Block Author Date A G 21 05 2012 Revision 5V BUCK OSC1 CLKI 1 MCLR VPP Ed SPARE Al11 2 RAO ANO Roll 1 gt RA1 AN1 Spare Al12 2 RA2 AN2 VREF 5V LINEAR RA3 AN3 VREF Digital Sensor gt RA4 TOCKI Yaw 1 gt RAS AN4 LVDIN RA6 OSC2 CLKO Reset Controller E RBO INTO Status LED Red RB1 INT1 RB2 INT2 RB3 INT3 CCP2B RB4 KBIO Mcc 1 enable RB5 KBI1 PGM PGC RB6 KBI2 PGC PGD RB7 KBI3 PGD Statu
150. ent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document Project plan Issue date 25 05 2012 Version 2 2 of 18 TABLE OF CONTENTS 1 LIST OF TABLES sa 3 2 LIST OF FIGURES 3 3 ABBREVIATION mensa RM 4 4 sadg i dledmee iaai 4 5 PURPOSE e M E 4 6 4 7 PROJECT MODEL Eee 5 7 1 The TOUE PIAS 6 7 1 1 The nine different 5 nnnm nnnm nnns 7 8 PROJECT PLAN me 8 8 1 5 6 au ERNEUT 8 8 2 Project ODJOCHIVES 8 8 2 1 8 8 2 2 8 8 2 3 nic 8 8 2 4 PRON cites ed 8 8 2 5 Priomty EE 8 8 2 6 uj E 9 9 lij nenee M 9 Organizirig Budget 9 9 1
151. ent roles have The tasks are awarded to the different roles A task is a unit of work that should be so good that it can be implemented in the final product This result is a part of the element called work product but it is not only this result It is also all of models that are developed in the task and all documentation that has been written Every task in iteration can be divided into 9 disciplines These disciplines are again divided into 6 engineer disciplines and 3 supporting disciplines In our project it is the 6 engineer disciplines that are most important and we will focusing most on these disciplines The supporting discipline Project management is also important this will be the one of the 3 supporting disciplines that we will spend most time with The whole project is according to the RUP model divided into 4 different phases These phases are described according to where in the project process we are The end of each phase should be marked with a millstone To go further in the process some defined goals should be checked if they are satisfied according to the requirement specification The phases are divided into sub phases where the end of every sub phase marks a small milestone The secondary objectives contain a group of activities one activity can last for maximum 14 days One activity consists of several small iterations where we work our way to a prototype we check the prototype for faults and starts to improve
152. eplaces Bicolor LEDs Reference N A Owner and date O R 03 05 2012 6 23 Ground plane on PCB Part of Ground plane on the PCB s Background We need to avoid as much noise we can And try to reduce the EMC on the card Critical component function If we separate the analog ground plane from the digital ground plane with a small connection we will be able to maintain the same potential and reference in both domains The small connection will not transfer noise and other unbalances between the domains Positive aspects The analog part of the circuit will not record noise from the digital part and the switching regulator Negative aspects N A Time spent Hours 3 Replaces N A Reference http www ce mag com ce mag com archive 01 03 0103CE 028 html 07 03 2012 http Awww analog com library analogDialogue archives 39 09 layout html 07 03 2012 Owner and date S A 07 03 2012 Part of Ground plane on the PCB s Background We need to avoid as much noise we can And try to reduce the EMC on the card Critical component function If we create a moated ground plane we will reduce the coupling between circuits by basic physical separation We will be able to maintain the same potential and reference in both domains Noise voltage and power surge will be Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com
153. er the PCB layout will need more EMI research Time spent Hours 2 Replaces 6 13 2 http www ti com general docs lit getliterature tsp genericPartNumber Im2596 amp fileType pdf LM2596 data sheet http www buyincoins com details Im2596 step down adjustable dc dc power supply Reference module new product 9004 html whole module Owner and date O R 09 02 2012 Part of Power supply Background We look into other options that option 6 4 1 Critical component niinus LM22676 80057 01 swch function EXE ni inated ENABLE Figure 1 Circuit schematic Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 20 of 34 90 00 89 00 88 00 87 00 86 00 85 00 84 00 83 00 82 00 81 00 80 00 0 20 1 00 1 99 lout A Figure 2 Efficiency Positive aspects Even lower Part cost than option 1 and the same part count 6 The Vout p p is better that option 1 10mV The max current is 3A which is way more than we expect the system to use Negative aspects Lower efficiency that option 1 but it is still gt 80 which is great But this is still a switching power supply which can be a source for EMI Time spent Hours Replaces 6 13 3 Schematics and graphs http www national c
154. ered SPARE_AI22 Prefilter Mcc 3 enable _ 22 RX prefiltered SPARE Al21 Prefilter RX SPARE 21 TX TX prefiltered Analog Position R Digital Sensor R ANALOG POSITION LA Digital Sensor LA CONN H10 CONN H10 RESISTOR NETWORK 3 Analog Position R prefiltered 1 Analog Position Digital Sensor R prefiltered Digital Sensor R Analog Position LA prefiltered Analog Position LA Digital Sensor LA prefiltered Digital Sensor LA Analog Position RA Digital Sensor RA Analog Position E Digital Sensor E CONN H10 Resistors For RC and R filters SPARE SPARE Ali2 7 SPARE Alt SPARE Al21 SPARE Al22 Compact Fly by Wire Main Controller Card C24 C23 C22 C20 Component schematic 100 100 100 100 Author Andersen Version 1 Date 21 05 2012 Rc Filter Caps 5V BUCK STATUS LED GREEN R8 CONN H6 STATUS LED GREEN REGULATED 200 STATUS LED RED R9 STATUS LED RED REGULATED 400 Current Limiters For HMI LEDs 5V BUCK POWER LED LED BLUE PWR LED gt 5V LINEAR Reg for Analog devices 5V BUCK INTERNAL VOLTAGE READ EXTERNAL VOLTAGE READ Voltage Read Compact Fly by Wire Main Controller Card Component schematic Author Sindre Andersen Version 1 Date 21 05 2012 Internal Sensors And status EXTERNAL VOLTAGE READ 13 8V R4 18k R5 3 9k U1 LPC1 HEADING DECREASE HEADING INCREASE CLIMB DECREASE CLIMB INCREASE ALTITUDE
155. ersion 1 0 Page 8 of 8 3 REVISIONS 0 1 Made Templates 12 01 2012 cr 0 2 Made 2 2 1 25 01 2012 A G 0 3 Made Schematic test results layout test with results 20 03 2012 O R 04 2 1 1 1 1 1 1 1 1 1 1 2 1 1 2 1 1 3 1 1 4 24 04 2012 A G 0 5 Made 1 1 6 27 04 2012 A G 0 6 Made test See Test Results 04 05 2012 O R 0 7 Rearranged and divided the document 28 05 2012 A G Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 7 2 2 7 7 EZ 4 a NS EFE Improvement Recommendations Group 3 Compact Fly by wire system 1 0 Released 28 05 2012 S A K M K M NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific
156. ey com no en products 1811510000 1811510000 ND 2638883 2 http media digikey com PDF Data 20Sheets Weidmuller 20PDFs 1811510000 padf 3 http catalog weidmueller com catalog Start do localeld en amp ObjectID 1811510000 Owner and AG 08 03 2012 date Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HAROWARE RESEARCH Issue date 22 05 2012 REV1 0 Version 1 0 Page 17 of 34 Part of MCC and SC Background The other connectors we use cannot carry enough current for our stepper motors So we need a connector that can carry enough current gt 10amp Critical The connector needs to carry at least ten amperes and needs to be spring loaded component function Positive This connector can handle currents up to 16A and cable thickness up to 2mm aspects Negative The connection point is 45 135 with the circuit board aspects Time 2 spent Hours Replaces 6 11 1 Reference 4 http media digikey com pdf Data 20Sheets On 20Shore 20PDFs ED3000 pdf Owner and O R 16 05 2012 date 6 12 Temperature sensor The temperature sensor is to be used to monitor the temperature around the circuit board to prevent it from getting to warm and also give a notice if the temperature is too low Table 5 Hardware research template Part of MCC and SC Temp limits 40 to 100C Directly calibrated in Kelvin Output 10m
157. f the Card specified This sensor gives us a calibrated reading without the need for a analog input Function The sensor uses a One wire protocol that gives a string of data upon request I O specification Connected to a 1 wire bus Vin amp Imax 5v MTBF Footprint TO 92 Price 2 USD References http datasheets maxim ic com en ds DS18B20 pdf Author date 23 05 2012 6 SUPERVISOR CARD The Supervisor card is the card that decides which of the Main controller cards that is active The Supervisor card can also be implemented with autopilot and can be connected to an android tablet The Supervisor receives status information from all the MCCs and compares them to each other This si also the controller that communicates with the user Picture Description The LPC1768 Is Running at 3 3 Volt and Therefore we use this Voltage Regulator It can Supply 800mA of current Function Deliver a steady power supply to the joystick 5V 0 2V Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 8 of 14 specification Input Output 13 8V 4V 3 3V 0 033V GND N A Vin amp Imax 7 9Vmin 18Vmax amp load currents up to 1000mA MTBF 1002356520 hours Footprint TO 220 NOT standard pinout Price 1 USD References 7 1 1 4 LM 78L05 data sheet Author date
158. for this project is to give practical experience with working in a group to solve a real world engineering problem 6 INTRODUCTION Our group got a task from the company Equator Aircraft Norway This company developing a new type of small airplane which will bring this type of airplane to a new dimension We are to develop and construct the fly by wire control circuit for the plane Today the fly by wire technology is not much used in small planes Close to all planes in this category are controlled mechanically by wires and rods Equator Aircraft thinks small airplanes also could benefit from the fly by wire technology The goal for this project is to test our circuit with an FAT Factory Acceptance Test We will define this as our goal because we have limited time and the prototype of the airplane that the circuit is going to be implemented in is not yet finished This makes it impossible to test it with an SAT Site Acceptance Test Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 Page 5 of 18 d PROJECT MODEL In our project we had to choose a development process We have chosen to use the Rational Unified Process PUP because we think this model will help us to develop a good result in the end The RUP model is based on the spiral model which is a model that uses the same loop of research and control for every step
159. g a IMC IMU combination of accelerometers and gyroscopes MTBF Mean Time Between Failures MCC Main Controller Card SC Supervision Card Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Test Results Issue date 29 05 2012 Version 1 0 Page 4 TESTS TO THE REQUIREMENTS 4 1 Environmental conditions 4 of 10 The system we came up with is a proof of concept not a complete system ready for production And some of the work on the product is therefore not done professionally e g soldering amp mounting this means that we have prioritized the function of the system not the durability of it The environmental conditions are therefore not tested We do not have enough time to test this R102 4 N T requirement 15 05 2012 We do not have enough time to test this R105 1 N T requirement 15 05 2012 A G We do not have enough time to test this R106 1 N T requirement 15 05 2012 A G We do not have enough time to test this R107 2 N T requirement 15 05 2012 A G 4 2 Overall system function R205 4 Passed The circuit boards and sensors and connectors weigh less than 1 kg Though the weight of the entire system depends on the length of the cables between the cards 23 05 2012 A G R207 2 Passed The output is according to the requirement 16 05 2012 A G R216
160. ghting bpp 32 Specular highlight Full Screen Framerate limiter Features Random objects IV Time of day noon M aircraft_demo balloon_demo Random trees Season summer M bigstorm_demo models Real weather fetch clemenceau_demo Ler droptank demo IV Auto coordination rir a m Menu auto visibility Deselect all TerraSync 5505 Multiplayer Callsign Hostname in out Atlas Hostname Show command line Defaults Load Save As Figure 4 Conditions settings Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 12 of 15 In the advanced menu choose Input Output on the left hand side of the screen The developed code is based on serial communication and the protocol that has been used is Generic The direction of the serial data should be in and the frequency can be chosen after how often you want to read the incoming data To know which Port you shall use you have to check which comport the Arduino microcontroller is connected to The baud rate used in the developed code is 9600 so it is important to use this baud rate in FlightGear too One the last option you shall choose the developed XML code that you past in the folder protocol No push ok then run
161. h MCC SC who is running These switches are override Switches Consequence of Total failure of the HMI means that the airplane cannot be manually overridden total failure by the pilot and the SC MCC2 is operative This will not affect the maneuverability of the airplane If the HMI SC and MCC2 fails at the same time the flight will be out of control If all of the three fails the pilot then has two choices 1 try to control the aircraft using the trim tabs on the control planes 2 pull the emergency parachute MTBF 3 734 944 338 hours between failures Ref Excel diagram HMI RevO 1 xlsx The reason for the High MTBF is of the AND gate All the Switches need to fail at the same time in order for the total analog HMI to fail Time spent Hours 2 hours Owner and date S A 18 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 31 of 34 Fault tree diagram One or more LED s fail MCC s amp SC The Shortcut on Fracture on power loss Corresponding conductor conductor LED fails 5v Debris Broken 13 8 V Regulator ree SC total shortcut i H il duct path EO failure failure failure oe breaks Broken Fuse wires Blows Project Compact Eiy by wire MCC1 2 SC Fuse system Genera
162. he PCB s will be located in an assigned box Sharp objects fracture with an IP degree of protection This event is copper path 2 000 000 5 E therefore close to neglect able Mechanical wear creates PCB s are known to have a long expected life fracture on copper path 2 000 000 1 E span The PCB s are protected inside a box Bad connection points are often the reason for an electrical failure That is however why there Broken wires 200 000 5 E will be used robust terminals and connectors Additionally to the box where the PCB s are located and protected the top and bottom layer Conductive debris creates of the PCB s are also coated with a protective shortcut on copper path 2 000 000 5 insolating film Even though the PCB s are protected inside an IP coded box Moisture may get in during Moisture creates shortcut service and such The chances for a shortcut as on copper path 700 000 1 34E a result of this however are very small If there is bad connections or cables that are broken wire shortcuts broken they may shortcut on the PCB where the copper path 1 000 000 components placed or on terminals Vibrations cause unit to The probability of this event is reduced as much loosen 500 000 2 E as possibly by using through hole components If moisture gets into the box there is a possibility Corrosion cause bad of corrosion Regular service and checks on the connectivity 500 000 2 system is therefore required t
163. ikipedia org wiki RS 232 23 01 2012 http www edaboard com thread229518 html 23 01 2012 Reference http en wikibooks org wiki Communication Networks Parallel vs Serial 06 02 2012 Owner and date K M amp S A 06 02 2012 Part of MCC and SC Example about info that can be sent Pulsating signal indicating that the MCC is live and working Description Binary status updates Critical component function Communication and lifeline for MCC to SC Positive aspects Easy lifeline communications with a pulsating input Limited information can be sent Takes up more pins on both the MCC and SC Suffers from inter symbol interference and noise over long distances The bandwidth of the parallel wires are smaller than the serial wires Because of the increased potential for noise and interference parallel wires Negative aspects need to be far shorter than serial wires Risk Profile May cause confusion to the system if lines are disconnected Time spent Hours 3 Replaces N A http en wikipedia org wiki Parallel communication 30 01 2012 Reference http en wikibooks org wiki Communication Networks Parallel vs Serial 06 02 2012 Owner and date K M amp S A 06 02 2012 Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document HAR OW ARE Issue date 22 05 2012 REV1 0 Version 1 0 Page 8 of 34 6 3 Communicat
164. ion between all MCCs and SC Part of SC On the PIC18F8520 there is only two UARTS and we need the SC to communicate with five units with serial interface This we can accomplish by Background using multiplexer Critical component The multiplexer need to be easily controllable for both TX and RX The 744052 function has two four channel multiplexers which is optimal for our use Positive aspects We get all the serial communication we need with simple interface Negative aspects Extra component which will decrease the MTBF Time spent Hours 3 Replaces N A Reference http Awww taydaelectronics com datasheets A 027 pdf visited 09 02 2012 Owner and date 09 02 2012 Part of SC On the old Controller PIC18F8520 there was only two UARTS We decided to Background change this controller of many reasons Which this was one of them Critical component function has four UARTS which all has its own buffer this makes is easier to operate We get all the serial communication we need with a simple interface Fewer Positive aspects components than the above solutions Negative aspects Extra component which will decrease the MTBF Time spent Hours 3 Replaces 6 3 1 Reference Owner and date O R 16 05 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 9 of 34
165. k this go to Debug on the top line and choose Browse Internal Properties You will now get the screen shown in figure 7 gt FlightGear File View Location Autopilot Environment Equipment Al Multiplayer Debug Help Long EZ Internal Properties celerations autopilot command consumables controls devices engines environment ephemeris gear hazards none All the flaps parameters can be found under controls flight These parameters shall respond to the motion of the joystick Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 14 of 15 fcontrols flight double double elevator trim 0 double flaps 0 double 0 475 double rudder trim 70 double elevator Figure 8 Flaps parameters Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 15 of 15 4 FURTHER INFORMATION For a more detailed explanation of the functions please read SW description HW description For information on how to assemble the system and troubleshooting please read System topology MCC wiring diagram SC wiring diagram HMI wiring diagram 4 1 1 1 Contact Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com For further assistance please do not hesitate to contact Equator Aircraft Norway on Home page e mail phone Visit Post
166. l system failure ALARM HMI panel activated Pilot unconscio us HMI pan el broken ee Compact Fly by wire Project system Drawing FTA Complete System 9 with MCC2 backup Author Date A G 16 03 2012 Revision 0 1 Figure 2 FTA Complete System with MCC2 backup Simulator To our system we have used a freeware simulator called Flightgear to illustrate the system We have tried a lot of different ways to communicate with the simulator and these options are described here All ways are using serial communication and a Arduino Mega microcontroller but with different protocols Generic Protocol With this protocol it is possible to send input to Flightgear and receive data from Flightgear but it is not possible to do both at the same time This is the reason that we tried the telnet protocol to see if it is possible to get feedback at the same time as we send inputs For more technical specifications about this protocol and our solution see the software description Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Software description Issue date 29 05 2012 Version 1 0 Page 7 of 12 222 2 while 1 document The arduino will receive serial data from the system scale it in the format the flightgear needs and send it out as a new serial line to flightgear It is required to make a XML file to make flightgear u
167. l provide some protection The capacitor resists change in the volt across it and the resistor will limit the current Negative aspects N A Time spent Hours 1 Replaces N A Reference http www w9xt com page microdesign pt10 input protection html 20 02 2012 Owner and date S A 20 02 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 12 of 34 6 7 Decoupling capacitor Part of amp SC Background We need to decouple our logic IC s to minimize high currents in a large loop on the PCB to lower EMI Critical component function The component helps us eliminate EMI by providing enough power for the IC it supports so we don t get large currents a big loop on the PCB board this gives EMI and voltage drops Positive aspects Negative aspects Time spent Hours 2 Replaces NA Reference http Awww hottconsultants com techtips decoupling htm Last read 20 02 2012 made by Henry Ott Consultants Owner and date O R 20 02 2012 6 8 Component package standard Part of amp SC Background We are making two different PCB cards for our project which needs to have components soldered to it we discuss the pros and cons of Surface Mount Devices Critical component function
168. leron Rudder Throttle Description The 3 first variables do we got from our system The throttle is read from an analog Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Software description Issue date 29 05 2012 Version 1 0 Page 12 of 12 input at the arduino and the variables for magnetos starter brakes and gear down is integers which get the values from switches connected to digital inputs at the arduino Al these variables are 0 or 1 except magnetos which is modulated in the code to be 3 because flightgear required it to start the plane To get communication with flightgear we need to write a XML code This code read the data that comes over the serial line one after one To separate the data that comes over the serial line we have to define a variable separator in the XML An example of how to send the serial data from the Arduino and how the XML is build are shown under Arduino code Serial print start Serial print XML code lt line_separator gt newline lt line_separator gt lt var_separator gt lt var_separator gt lt chunk gt lt name gt Magnetos lt name gt lt node gt controls engines engine magnetos lt node gt lt type gt float lt type gt lt chunk gt Owner and date Runar L ken 16 05 2012 9 REVISIONS 0 1 Made template rev 0 1 24 02 2012 A G 0 2 Made softwa
169. ltage regulator www ebay com Order 2 S A Paid 09 02 12 LEDS www ebay com S A 09 02 12 Stepper controller www pololu com 141 S A Paid 09 02 12 Microcontrollers www mikroe com 592 S A Paid 24 02 12 Document seein Issue date 29 05 2012 Version 1 0 Page 4 of 5 Taxes Order 1 237 S A Paid 24 02 12 Taxes On microcontrollers 264 S A Paid 05 03 12 Sample connector Elfa electronics 128 S A Paid 19 03 12 MCC PCB cards pcbCart com 1187 S A Paid 1 4 2012 Stepper controllers Pololu com 1100 S A Paid 3 4 2012 Parts from ebay Ebay com 203 S A Paid 3 4 2012 Cables connector and a lot of S A Paid 9 4 2012 small parts Ebay com 1107 Power connectors Digikey com 200 K M Paid 18 4 2012 Potmeters and misc www sparkfun com 436 S A Paid 18 4 2012 Usb connector resistors and O R Paid transistors two stepper motors and other misc Ebay com 490 LPC1768 and debugger Ebay com 382 O R Paid Capacitors headers and O R Paid potentiometer Ebay com 69 10 Rocker switches green O R Paid leds red leds and standoffs Ebay com 108 Ordered SC PCB card Pcbcart com 1116 S A Paid Ordered ammeters Ebay com 63 O R Paid 27 04 2012 74HCT365 Ebay com 69 O R Paid 02 05 2012 LM3526 L Elfa 147 O R Paid 02 05 2012 Metal plate epoxy and cutting S A Paid 02 05 2012 disc Biltema 70 Spray paint Maxbo Hokksund 107 S A Paid
170. m is causing more trouble to the stepper controllers than it helps How Controller test Result Date Test Controller 1 disabled and controller 2 is running Controller 1 unpowered and controller 2 is running Controller 1 enabled but not stepped and controller 2 is running Both controllers is activated and stepping Controllers are alternating the enable pins This is the form we re going to use to see if the controllers can operate simultaneously We re connecting Owner O R Date 04 05 2012 rate 9 Accumulated hours 3 Controller test Result Date Test Works 04 05 2012 Controller 1 disabled and controller 2 is running Works 04 05 2013 Controller 1 unpowered and controller 2 is running Works 04 05 2014 Controller 1 enabled but not stepped and controller 2 is running Works 04 05 2015 One enters protection mode Both controllers is activated one needs to be and stepping reset 04 05 2016 Controllers are alternating the Result enable pin Works 04 05 2017 description Necessary None but we learned that we might need to use the reset pin if something fails And changes we need to make our software aware of this problem Owner O R Date 04 05 2012 Equator Aircraft Norway Gequatoraircraft com www equatoraircraft com Document Additional Tests Issue date 29 05 2012 V
171. mmunication TX from 3 3 to 5v RC filter JTAG for programming USB Connector USB charge controller Temperature sensor One Wire 12 Power Connector 3 3 2 Where to find Information Documents we used a lot while developing the system Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Wiring Diagram for SC Here you can see where every wire is connected on the SC and which pin on the LPC1768 that goes to which connector Card Configuration This is a great reference for programmers It is an Excel sheet with explanation on which pins that are used on the microcontrollers and what they interface with Schematic for SC Self explanatory a schematic for the PCB PCB Layout SC This requires the user to have the Proteus PCB Design Package but is a great way getting to know the PCB card and troubleshooting the circuit Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 9 of 15 3 3 3 3 3 4 3 4 Software The code development for the supervisor is done using Keil compiler The program can be downloaded from here http www keil com download product The demo version has a 32kB limit that is sufficient for our use so a license will not be supplied with the product A user manual for the keil compiler is found here http Awww keil com support man To get the software loaded into the LPC ARM controller it is necessary to use
172. n The RESULT describes what the system does in each of the different cases MCC1 MCC1 will be assigned MCC2 MCC2 will be assigned MCC3 will be assigned HMI The pilot has to intervene and assign an MCC The system has failed and the pilot may use the trim tabs to control the control surfaces or pull the reserve parachute Single failure on SC Table 1 describes the result if the MCC s and the SC fails In this example the SC is a Single Point Of Failure which means that if the SC fails to work the SC will not send commands to the MCC s When none of the MCC s receive an enable signal from the SC the MCC s do not know what to and the pilot have to intervene and use the Analog HMI to assign a operating MCC If this were to happen during critical operations such as takeoff landing flying in a lot of air traffic etc The consequences can be fatal because of the small margins the pilot have for errors The time it takes for the pilot to understand what is happening and to do something about the situation assign an MCC might be time the pilot does not have Single failure on SC MCC2 HMI MCC1 HMI MCC3 Table 1 Single failure on SC To further explain we made a FTA diagram of the problem in Figure 1 Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Software description Issue date 29 05 2012
173. nd this assignment is a proof of concept our focus when coding has been on functionality However to ensure better readability of the code we have used this very simple code standard Naming Variables The variables uses logical names that makes the function easy see Always starts with lowercase character If the name is made up by several words the next word start with an uppercase Example int joystickStepElevator Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Software description Issue date 29 05 2012 Version 1 0 Page 8 of 12 4 2 4 3 Function names Always starts with lowercase character If the name is made up by several words the next word start with an uppercase Example void joystickElevatorOneStep Defines Always uppercase letters Words separated by _ Constants Always uppercase letters Words separated by _ Function and variable prefixes is to ask a question about something Whenever someone sees Zs they will know it s a question get get a value set set a value Pointer variables Place the close to the variable name not pointer type Example char rudderStep Comments Variable comments Single line commenting with Function comments Block comments on multiple lines Formatting One statement per line We will only be usi
174. nderstanding which serial input that shall be send to which parameter in flightgear For more info about the code and other technical information for this protocol see the Software description document Telnet Protocol This protocol is a bit more flexible than Generic With this protocol we send unscaled data to the PC from the Arduino The Arduino is simply just used to send data The unscaled data are we modulating in a Python script at the PC In the Python script we include the telnet protocol so this script can talk directly to Flightgear without a XML file In this protocol we got only feedback from the parameters that we send in to the simulator which it useless in this case A part of the code developed for Python script are sown under We do not make a complete code for this solution because it was replaced by the generic protocol arduino read 3 if s POT arduino read i if s elevator int arduino read 5 elevatorOut scale elevator elevatorOut elevatorOut 1 print elevator set elevatorOut fg write set controls engines engine throttle f r n elevatorOut if s A aileron int arduino read 5 aileronOut scale aileron aileronOut aileronOut 1 print aileron set aileronOut fg write set controls flight aileron f r n aileronOut Figure 3 Python code 4 4 1 CODE STANDARD Since we have been only two people working on software a
175. ng one statement per line Example char 0 char 0 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Software description Issue date 29 05 2012 Version 1 0 Page 9 of 12 5 MAIN CONTROLLER CARD UART Elevator Left aileron Right aleron Rudder Nosewheel Figure 4 Use case diagram for Main controller card Figure 4 Use case diagram for Main controller cardFigure 4 shows use case diagram of the MCG This illustrates the actors external sensors and influences that the has to relate to Pilot Controls the aircraft with joystick and the HMI input panel UART Sends and receives data to the supervisor Elevator Elevator stepper motor Left aileron Left aileron stepper motor Right aileron Right aileron stepper motor Rudder Rudder stepper motor Nosewheel Nosewheel stepper motor Table 3 Table of actors from MCC use case diagram Class diagram of the code See Appendix 13 Software Class Diagram For detailed explanation of the code and calculations performed please see the index html file in the software documentation folder on the DVD ertet Document Software description Issue date 29 05 2012 Version 1 0 Page 10 of 12 6 SUPERVISOR CARD Visual Paradigm JML Profesional om Bysketud Universi IMU GPS Barometer Ultrasound
176. nload new functions from Android Market by registering your name and flight registration number The Marked will be updated regularly with new functions and updates Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document USER MANUAL Issue date 28 05 2012 Version 1 0 Page 5 of 7 TY M 5 32 Ulefoss Saa mv Satelite e Traff m b an 1 Shen 1472 EM 762 2 gt Po rsorLnn e 7 Sandefjord y 10 he B R E 79 762 TMA e 1372 p dem Map data 2012 Google Report pr E is Altitude 967M Heading 68 3 14 65 km 227 Airspeed 136 2 kn S 130 9 kn 4min 03 sec Figure 1 Example of Android application Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document USER MANUAL Issue date 28 05 2012 Version 1 0 Page 6 of 7 ANALOG HMI WARNING When activating the override button only activate one at a time Activating of multiple Main controller cards can damage the system and cause failure If the SC fails to supervise the system or you do not want the safety features to interfere with your flying you can override the choice of controller manually by pushing one of the three bu
177. nnnnnnnnnnnnnnnen 11 8 SIMULA TOR e 11 9 REVISIONS nad 12 Figure 1 FTA complete System AN nennen enne 5 Figure 2 FTA Complete System with MCC2 6 Figure 3 PANON COJO amanarea EE 7 Figure 4 Use case diagram for Main controller 9 Figure 5 Class diagram sse enne Error Bookmark not defined Figure 6 Use case diagram for Supervisor controller 9 10 Figure 7 Class diagram Error Bookmark not defined Tabl 1 Single failure Om BG 4 Table 2 MEC2 Backup 5 Table 3 Table of actors from MCC use case enne 9 Table 4 Table of actors from SC use case 10 Table 5 Communication example from SC to MCC 11 Table 6 Communication example from MCC to SC sse 11 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Software description Issue date 29 05 2012 Version 1 0 Page 3 of 12 1 PURPOSE The purpose of this document is to give a general overview of the software part of the project This is done with class and activity diagrams for both the SC and MCC The so
178. nse time from zero to maximum 03 01 2012 A G deflection 25 in each direction 0 5 sec T710 2 Confirm that they have the specified angular 03 01 2012 T A velocity R711 1 Minimum resolution of rudder surface 5 02 01 2012 A G steps degree T711 1 Confirm the resolution 03 01 2012 R712 2 Elevator torque is minimum 40kg cm in both 27 01 2012 directions 1712 2 Confirm that the elevator can withstand 40kg cm 27 01 2012 T A Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 13 of 14 R713 2 B Elevator response time from zero to maximum 03 01 2012 A G deflection 25 in each direction 0 5 sec T713 2 Confirm that they have the specified angular 03 01 2012 velocity R714 1 Minimum resolution of elevator surface 5 02 01 2012 A G steps degree 1714 1 Confirm the resolution 03 01 2012 T A R716 2 Nose gear torque is minimum 40kg cm 27 01 2012 A G T716 2 Confirm that the nose gear can withstand 40kg cm 27 01 2012 A G R717 1 A Nose gear movement 90 from forward heading 02 01 2012 A G T717 1 Confirm that nose gear has 90 movement 05 01 2012 R718 2 Nose gear response time from zero to max 03 01 2012 A G deflection maximum 8sec T718 2 Confirm that they have the specified angular 03 01 201
179. nsible for the requirements document He will also have to follow up the requirements as they are met and he will make sure that all the demands are taken into consideration Test The test responsible is responsible for all the testing within the project and all the test specifications and reports Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 Page 17 of 18 13 5 13 6 13 7 13 8 13 9 Web The web responsible is responsible for the project web page and will continuously make sure the web page is updated with the right information and pictures He also has to check that sensitive material not get posted online The address to our webpage is http www fbw eu pn Software The software responsible has the overall response for the software code written in the project He has to make sure the code has a good structure which is easy to read efficient and modular made Risk The risk responsible is responsible for the risk analysis this document will describe the probability and consequence for a given scenario The responsible person will make sure the risk analysis is updated every time a new risk scenario occurs He is also responsible for making an error tree analysis Redundancy The person s responsible for the redundancy must have a full overview of the system and its critical links and
180. o happen in software if the analog read pin is set high or low by mistake Negative aspects This system is actually not redundant by definition Time spent Hours 2 Replaces N A Reference N A Owner and date O R 27 1 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Version HARDWARE RESEARCH 1 0 Page 25 of 34 REV1 0 Issue date 22 05 2012 Part of MCC We use a dual triple redundancy setup on the joystick and MCC and we have some different options on how we connect all the redundant axis to the MCC s This option makes three parallel systems which is isolated like the figure below Joystick Redundant i Redundant2 Redundant 3 XYZ XYZ XYZ MCCL 2 Background m Critical component function These signals will give the MCC the user set point from the joystick Positive aspects We have three isolated and parallel circuits that eliminate single failure If one axis on each redundant potentiometer fails e g x axis on red 1 y axis on Negative aspects red On red 2 amp z axis on red 3 Time spent Hours 5 Replaces Triple redundancy to MCC Reference 6 15 1 Owner and date O R 27 1 2011 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 26 of 34
181. o prevent this The likelinood that something physically blocks Joystick Locks 2 000 000 5 E the joystick during flight is very small Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 4 of 34 Joystick breaks 2 000 000 5 E In order to break the joystick excessive force must be applied This would probably happen when entering exiting or loading the plane when on ground Joystick sensor fails 2 000 000 We advice Equator Aircraft to use Hall sensors for the joystick There is no mechanical contact inside these sensors and they are known to be way more reliable than normal resistive potentiometers Generator breakdown 10 000 This number is taken from http src alionscience com pdf TypicalEquipmentMTB FValues pdf The equator crew will however produce its own biodiesel generator so this number might have to be adjusted when the generator is tested However bio diesel engines are known to be long lived So our MTBF number is probably too low This is done on purpose Battery breakdown 3 000 3 33 E The equator crew has not yet decided on a battery package So we picked a low MTBF number on purpose to be sure it would be close to or less than the actual MTBF Ref http alternative energy 6pie com batteries lifespan of batte
182. o simulate the airspeed of the aircraft we will use the same potentiometer as in 1 1 1 2 Angle of attack sensor simulator The angle of attack sensor simply measures the difference in angle of the aircraft compared to the direction of the aircraft through the air It is an analog sensor measuring an angle To illustrate this sensor we will use the same potentiometer as in 1 1 1 2 Distance sensor simulator We use the same sensor that is going to be mounted in the aircraft as the test sensor Autopilot set point buttons simulator We will use some momentary switches to simulate the autopilot set point buttons on the joystick since it is not yet ready for production The buttons will be used for 4 altitude altitude Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Additional Tests Issue date 29 05 2012 Version 1 0 Page 4 of 8 compass heading compass heading climb rate climb rate All the button functions are set points only And it is therefore the values the system will work to reach 1 1 6 Nose wheel Down up sensor simulator There will be a sensor that detects when the Nose Wheel is activated The Nose Wheel Controller on the operating MCC will then be activated We will simulate this function with a toggle switch 1 2 Sensor table Photo Interrupter 5 1 1 1 Motor position sensor 24 04 2012 A G G
183. of 34 Fault tree diagram 13 8V Power loss Generator Battery breakdown breakdown Broken Fracture on Regulator wires copper path loosening Vibration cause the unit to loosen Mechanical wear creates fracture on conductor Sharp object fracture copper path Conductive shortcut on copper path Regulator shutdown Broken wire shortcuts copper path Moisture creates debris shortcuts on copper path creates Compact Fly by wire system Drawing 5V Regulator FTA Project Author Date S A A G 17 04 2012 Revision 0 3 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Part of MCC Description of the The 5V regulator will convert the 13 8V voltage into a linear 5V power supply for subsystem the Joystick and for the analog devices on the MCC Consequence of If the 5V voltage regulator fails this will lead to total failure of the MCC and the total failure pilot has to change MCC MTBF 64 675 2 hours between failures Ref Excel diagram MCC RevO 1 xlsx Time spent Hours 2 hour Owner and date S A A G 17 04 2012 Document Fault tree analysis Issue date 29 05 2012 Version 1 0 17 of 34 Page A Generator Battery breakdown breakdown Fault tree diagram sensor OR
184. ogue data from the joystick to the MCC without losing data Positive aspects It is robust and without screws Negative aspects It is not suitable for shielded cables Time spent Hours 3 Replaces N A http weidmuller com system files webfm downloads pdfs literature 1250030000 CAT2 Reference BLF pdf 25 01 2012 Owner and date A G amp R L 25 01 2012 Part of MCC SC Background What kind of connectors shall be used for serial communication Critical component function We need a cable that are resistant to vibration Positive aspects It has a lock function which helps it not to disconnect because of vibration Negative aspects The lock function is not very safety Time spent Hours 1 Replaces 8 2 Reference N A Owner and date R L 17 01 2012 Part of MCC SC Background What kind of connectors shall be used for serial communication Critical component function We need a cable that are resistant to vibration Positive aspects It is spring loaded which is the most important property Negative aspects N A Time spent Hours 2 Replaces N A http weidmuller com system files webfm downloads pdfs literature 1250030000 CAT2 Reference BLF pdf 17 01 2012 Owner and date amp R L 17 01 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page
185. om appinfo webench scripts c cgi ID 1234543 NSjd8dZZDb4C2 power Reference 111154 Owner and date O R 19 1 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document ANDRE Issue date 22 05 2012 REV1 0 Version 1 0 Page 21 of 34 Part of Power supply Background We need a power supply that can supply our system with 5v from the 12 volts that is the supply we can get power from We need a PSU that can give us a stable output voltage of 5 volts and at least 2 amperes of current We are focusing on switching regulators since they are a lot more efficient than linear converter that will make a lot of heat 2Amps 2A 12 5 V 14W the switching regulator can achieve a efficiency higher that 90 in optimal conditions that reduces the heat a lot Critical component function This Converter has an efficiency of 86 percent when lout is 0 7Amps FEEDBACK LM2678 00ST IC 220 mOhm Figure 3 Circuit Schematic Efficiency x 92 00 90 00 88 00 86 00 84 00 82 00 80 00 78 00 76 00 74 00 72 00 x Aouaroua 70 00 68 00 66 00 6 99 2 0 35 0 69 lout A Figure 4 Converter efficiency Positive aspects Low external part count 6 Low part costs 4 26 Vout 40mV Negative aspects May be abit overkill for our project we don t need 5 Amps of current Also Switching power supply can
186. on of sensor Mechani cal wear fracture on copper path wires Compact Fly by wire system FTA Barometer Project Drawing Author Date Revision A G 17 03 2012 0 1 Part of SC Description of the The Barometer measures the atmospheric pressure around the aircraft and if it subsystem is calculated it then gives a good estimate of the altitude of the aircraft must be calculated before every flight as a result of the atmospheric pressure changes that follows gives the weather Consequence of If the barometer fails you still have the GPS to measure the altitude and the total failure distance sensor to measure the distance from the ground at low altitudes It is not a critical failure to the function of the system MTBF 28 365 8 Hours between failures Ref Excel diagram SC RevO 2 xlsx Time spent Hours 2 hours Owner and date A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 29 of 34 Fault tree diagram 5V Power loss 13 8 V Power loss Generator breakdown Autopilot fail Fracture on shortcut on copper path copper path OR Broken Moisture Conductive Vibrations 5v Fracture on cause the debris creates wire Regulator 1 h
187. onment with a lot of extra features that can prevent fatal pilot errors During our project we have come up with a lot of solutions some are good and some need more work The biggest challenges we encountered was not to choose the simplest solution but one that could be further developed One example was by changing the controller on the supervisor card from an 8bit to a 32bit controller which we did in April Another challenge was to make the system redundant they need to work together but they also need to be fully independent if one controller crashes Altogether we are proud of what we have done in six months and we hope our product can be used as a platform for further development of the Compact Fly By Wire System And later we hope it will be used in the Equator P2 Excursion 0 5 Yaw 1 0 5 Roll 1 zu HMI panel 5 punoib5 vc y Rx sc TX Rx Tx Main Controller Card 1 1 18 8520 1 x AI and 1 x DI from each control plane sensor and 1 x DI from Nose wheel sensor sre om enable Reset om S me om E 43 8 13 8v GND AL AG Bi p Aitaa 12 Project Name Drawing Author Date Revision Com
188. ontrol surfaces in open loop 17 11 2011 T304 1 Confirm that control functions aren t disabled by removing feedback 05 01 2012 R305 2 Failure probability must be supplied with each part to establish the failure probability of the entire system 03 01 2012 A G T305 1 This must be documented in the Fault Three Analysis 15 05 2012 A G R306 1 Actuator electrical supply loss The control plane must automatically go back to neutral position by aerodynamic forces 02 01 2012 A G T306 1 This test must be done when the stepper motor is mounted with the gearing 15 05 2012 A G R308 1 System condition status to be detected and displayed to pilot 02 01 2012 A G T308 1 Confirm that the HMI panel works and that the respective LED s illustrate the condition of the respective MCC s SC 15 05 2012 A G R309 1 Modular design to comply with single dual failure tolerance And comply with MTBF requirements 03 01 2012 A G T309 1 Confirm that parts are easily replaceable and that it does not affect the MTBF 15 05 2012 A G R310 1 The Mean Time Between Failure of the entire system must exceed 800 000 hours 19 04 2012 A G T310 1 Confirm this with the Fault Three Analysis 15 05 2012 A G 5 5 Software R401 2 Response time must be according to actuation 0
189. or Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 3 of 34 1 PURPOSE Since no system is perfect and our system needs to be as reliable as possible it is a necessity to inspect the fault probability of the system The easiest way to do this is to deduce a failure analysis in which an undesired state of the system is analyzed using Boolean logic to combine series of lower level events By dividing our system in to smaller subsystems we can assure less error work probability and less system analysis Afterwards the subsystems are integrated to form the whole well analyzed complete system To illustrate the fault tree diagram we will use logic gates symbols 1 1 Explanation to the MTBF numbers A lot of the MTBF numbers are not mapped such as sharp objects fracture copper path and the like So we have calculated a number for these events Other events are documented When the probability for an event is so small it in practice can be neglected we have put it to 2 000 000 hours 230 years To see the calculations we have on the MTBF numbers see Excel diagram 1 2 List of MTBF numbers The copper path can practice not be broken without excessive external force In that case the Broken copper path 2 000 000 5 E aircraft should be inspected also T
190. pact Fly by Wire System MCC Overview 17 02 2012 Supervisor Card qui quid epmniv za gt Analog 0 5v 2589 B 4 5 Analog 0 5 n 8 22588 92822 6324 4 2 5 Analog 0 5v eus 5 5 a Y sv GND Address Pin MSb Address Pin LSb TX to MCC1 RS232 TX to MCC2 RS 232 TX to MCC3 RS232 IXto GPS Serial MUX PIC18F8520 MCC1 RS2 RX from MCC2 RS2 from RS2 gr 1 dde Vo 5 6 5 26 3 3V gt 3 3volt regulator GND Project Name Compact Fly by Wire System Drawing SC Overview Author Date O R 16 02 2012 Revision 1 lt EGG TE 0 GEN 1 l ued IWH 5 i gt gt i i us n 1909 3 5 T 2 3483 VIWE 3485 1384 1x 3153 oux SC 1200Ponisho x v ux oo 5 7 7 E ta 105495 uonisod 203 13 40304
191. places 6 1 2 Reference www printline dk 13 01 2012 Owner and date S A 13 01 12 Table 3 Option 6 1 1 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE RESEARCH Issue date 22 05 2012 REV1 0 Version 1 0 Page 6 of 34 Part of Production of the card Background We need to decide for which producer who will print our circuit Critical component function Fast delivery and quality production Positive aspects Fast delivery multi layer production Negative aspects N A Time spent Hours 1 Replaces N A Reference www elprint no 13 01 2012 Owner and date S A 13 01 12 Table 4 Option 6 1 2 Part of Production of the card Background We need to decide for which producer who will print our circuit Critical component function Fast delivery and cheap production Positive aspects Fast delivery and cheap production Negative aspects N A Time spent Hours 1 Replaces 6 1 2 Reference www pcbcart com 03 05 2012 Owner and date O R 03 05 2012 6 2 Communication Part of Communication between units Description By using this method we are able to send as much info as we want to the SC Example about info that can be sent number sending X Y Z joystick input X Y Z calculated control signal to stepper controller
192. pletion of use for which it was provided Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 2 of 34 TABLE OF CONTENTS 1 2 55 3 1 1 Explanation to the MTBF 3 1 2 histol MTEF numb els irte 3 1 3 Explanations to the 5 2 EE EE 6 3 TEMPLATE 2 6 3 1 1 Name of the 1 6 4 COMMON UNITS FOR SC AND MCC avennnnvnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnvnnnnenn 7 4 1 1 Voltage read 13 8 7 4 1 2 Voltage read ER 8 4 1 3 Power alee lieder etl 9 4 1 4 Buono 10 4 1 5 Power Supply 19 8V i 11 5 MAIN CONTROLLER CARD mrnnnvennnnvnnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 12 5 1 Description to the chapter avi 12 MCG dte 12 5 1 2 13728520 ananas bike 13 5 1 3 Stepper Gontroller vurderes ntt tenebo ter 14 5 1 4
193. quatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 10 of 14 5 6 Hardware has surface mounted components R501 3 Ability to mount the on different locations to 03 01 2012 avoid common environmental impact T501 4 Confirm that the circuit boards can communicate 12 01 2012 O R over a distance lt 4m R502 2 B Module based HW for further development 03 01 2012 O R T502 2 Confirm modular development 03 01 2012 O R R504 2 B The soldering on the circuit board is according to 03 01 2012 A G the IPC A 610E 2 standard T504 2 Document soldering 03 01 2012 O R R505 3 The parts must tolerate the vibrations defined in 10 01 2012 AG R107 T505 2 Confirm that the parts can withstand the vibrations 03 01 2012 O R R506 3 Cables and the general equipment must be 10 01 2012 mounted with spring loaded connections and cable ties to avoid resonance vibrations T506 3 Cannot be tested in FAT However it will be 12 01 2012 O R checked and confirmed during the installation in the aircraft R509 1 A The MCC must contain a complete and 03 01 2012 A G independent function as described in the software 8 4 failure tolerance 8 3 and the system function 8 2 requirements T509 1 Confirm that the MCC can execute all
194. r finished hardware researches we have done from 17 02 2012 S A 01 02 2012 till 17 02 2012 E 0 7 Made 6 11 1 6 11 2 6 19 2 08 03 2012 AG O R 0 8 Made 6 13 4 and 6 24 1 20 03 2012 O R 0 9 Made updates after change of microcontroller 03 05 2012 O R 0 10 Made more updates on outdated tables Finished documents 16 05 2012 O R 1 Made last revision 22 05 2012 O R Table 6 Revisions Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 7 2 2 7 7 4 UNS RMS SOFTWARE DESCRIPTION Bachelor Project Compact Fly By Wire System 1 0 Released 29 05 2012 A G K M T A NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restriction
195. raft com Document Project plan Issue date 25 05 2012 Version 2 Page 7 of 18 7 1 1 The nine different disciplines Engineer disciplines Business modeling This discipline will help to make a better understanding between product developers and business developers We should understand the structure and dynamic of the company that will use the product and find problems and possible improvements Requirements This includes finding what the system should be able to do and which requirements that satisfies it Analysis and Design This shows how the system will be realized in the implementation discipline Implementation This includes developing parts to the system and putting them together including the software Test This discipline include testing that all the needs of the system is implemented correct and identifying mistakes in the system and correct them before further development Deployment Here we present the product to the contractor and discuss the solutions Supporting disciplines Configuration and Change Management In this discipline we are going to work with configuration management and status and goal management Project Management Here it is required to work with risk treatment project planning and control of the process development Environment It is required to describe the processes that are necessary for the development process and improve project specific f
196. re description for MCC 24 02 2012 R L 0 3 Updated class info 19 04 2012 K M 0 4 Making software description for simulator 15 05 2012 RL K M Added research chapter communication protocol MCC and SC 0 5 28 05 2012 flowcharts and UML diagrams Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 4 ALTAE UNS Fault Tree Analysis Compact Fly By Wire System 7 2 9 Released 29 05 2012 A G S A A G Knut Br dreskift NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet Dropbox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorized use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon com
197. red the same way except for the MCC1 labeling and the above mentioned connections 3 The Oval circle represents the shielding of the cable It must be connected to the chassis of the box where the MCC are mounted in connected by a EMC shield clamp This is to ensure proper EMI protection 54 Explanation to the labeling e g MCC3 Enable RC2 2 Enable describes the signal function RC2 is the Pin number on the PIC 1818520 amp 2 is the labeling on the conductor and is in correspondence with the terminal number Everything within the is only for information and has nothing to do with the labeling In this example HMI C1 MCC1 C3 HMI is the name of the cable Rudder H i i Project Name Compact Fly By Wire Systemi Drawing MCC Wiring Diagram Author Date AG 21 05 2012 Revision 1 ie oiea 9 ads Ho 11124 2295 Hs 12124 v sds 10024 awas 12204 6 0161704 st 102104 vr 9946 0001029 2206 1011709 585 sueds Lez ra 1 it 1020104 FE 09729 z 2245 840733 ir Cage 33v GND St ISP Module a y Spare 3 3V SC ISP Module asc ices 3 SC Common N
198. rent levels of membership and involvement which you can read about on their webpage The EQP2 Excursion is a Carbon Composite Construction Hybrid Electric Powered Amphibian Aircraft Aiming for the Experimental category first followed by the ultra light ELA amp LSA markets 12 5 Project Documentation Idea Document Oct 1 2011 Ole A Riiser Project Plan Jan 8 2012 KjetilMj s Requirements Specification Jan 8 2012 Axel Gravningsbr ten Technical Document Jan 8 2012 RunarL ken Time Sheet May 29 2012 Kjetil Mj s Sindre Andersen Requirement amp test specification May 29 2012 Axel Gravningsbraten Meeting Minutes May 29 2012 Sindre Andersen User Manual May 29 2012 Axel Gravningsbraten Product May 29 2012 Ole A Riiser SW Specification May 29 2012 Thomas Andersen Table 11 List over project documentation Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 16 of 18 13 DESCRIPTION OF RESPONSIBILITIES This is the official area of responsibilities Ole Anders Riiser Project manager Testing Sindre Andersen Analysis and accounting Thomas Andersen Software and Web Runar L ken Document and Project Model Kjetil Mj s Hardware Axel Gravningsbr ten Requirements and Design Table 12 Description of responsible persons
199. restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document Improvement recommendations Issue date 28 05 2012 Version 1 0 Page 2of6 TABLE OF CONTENTS 1 EE NE 3 2 PURPOSE EE 3 3 lu te dd ggf 4 3 1 Hardware IE 4 3 1 1 c r 4 3 1 2 4 3 1 3 o 4 3 1 4 HM 4 3 1 5 ERE 4 3 2 None 5 3 2 1 5 3 2 2 Watchdog 2 2 reote ee EE EE 5 3 2 3 Sensor reading eia 5 3 2 4 5 3 2 5 Android 5 3 2 6 Code optimalization 5 3 27 Stepper motor 5 4 REVISIONS niende 6 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Improvement recommendations Issue date 28 05 2012 Version
200. ries php one year 8760 hours MCC fuse blows 1 000 000 1 E The chances of a fuse blowing without being overloaded are rather small SC fuse blows 1 000 000 The chances of a fuse blowing without being overloaded are rather small External heat 1 000 000 1 E All the PCB s are placed at different locations sealed off from other equipment And they are sufficiently cooled Dislocation of heat sink 500 000 2 8 The heat sink for the motor controllers will be glued on by a special thermally conductive paste it is very strong and due to the small weight of the heat sink it will be resistive to vibrations Dislocation of sensor 500 000 OE By accident or poor mounting the sensor may be dislocated and give wrong feedback to the System Mechanical error on sensor 500 000 SE The Sensor might not be working because of mechanical reasons Fraction on cable 500 000 2E The cables from the sensors to the MCC s might be fractured Electrical error on sensor 500 000 2 E The sensor might be leading the output signals to ground Or it might simply not work Wire loosen from sensor 200 000 Connectors and terminals are often the weakest link Mechanical disturbance on sensor 300 000 3 33 E Something might come between the sensor and the control plane and interfere on the sensor output signals HMI switch breaks
201. roducts view 7 mikroc pro for pic 22 05 2012 The free demo version has a program limit of 2 A dongle with a full licence is supplied with the compact fly by wire product A user manual for the MicroC compiler is found here http Awww mikroe com eng downloads get 30 mikroc pic pro manual v101 pdf 22 05 2012 When project is compiled a hex file is created There is two ways of getting this hex file onto the PIC microcontroller One way is by using the BigPic5 development board When pressing the compile and program with the BigPic5 connected the code will be uploaded to the controller The controller chip can then be taken out and inserted into one of the three main controller cards The other way of getting the hex file onto the main controller cards is by using a PICKit programmer RDP LION LAL LOLA DOLL OIA Figure 3 The PICkit2 programmer We have been using the PICkit2 programmer but the PICkit3 should also work Software for the PICkit can be downloaded from here http www microchip com stellent idcplg ldcService SS PAGE amp nodeld 1406 amp dDocN ame en023805 22 05 2012 The programmer connects to part 9 on Figure 2 The arrow on the card should point towards the arrow on the programmer Start the PICkit2 programmer by pressing this icon Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Technical User Manual Issue date
202. ror Reference source not 16 03 2012 S A found 0 6 Made 6 1 8 6 1 9 6 1 10 7 1 2 7 1 3 17 03 2012 A G 0 7 Made 6 1 1 7 1 1 5 1 4 19 03 2012 S A 0 8 Listed References made some comments to the chapters 20 03 2012 AG Updated 6 1 4 6 1 1 5 1 3 5 1 4 Error Reference source not found A G 0 9 REF Ref322432307 r h 6 1 2 17 04 2012 S A Deleted 5 1 6 MUX 0 10 Updated 5 1 1 5 1 2 5 1 3 5 1 6 5 1 7 7 1 1 7 1 2 7 1 3 18 04 2012 A G Updated 9 References 8 1 1 7 1 2 6 1 11 6 1 10 6 1 9 6 1 8 6 1 7 A G 0 11 6 1 6 6 1 5 6 1 4 6 1 3 6 1 2 6 1 1 5 1 4 4 1 5 4 1 4 4 1 3 4 1 2 4 1 1 19 04 2012 amp 1 1 Explanation to the MTBF numbers 1 0 Made the public release Made 1 3 and checked the grammar 20 04 2012 A G Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 2 2 2 I 9 EZ 4 a NS EFE Requirement amp Test Specification Bachelor Project Compact Fly by wire System 2 Released 23 05 2012 and R L NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or enti
203. s Ref Excel diagram SC Rev0 2 xIsx Time spent Hours 1 hour Owner and date S A 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 25 of 34 Fault tree diagram 5V Power loss OR 13 8V Power loss Generator breakdown Regulator breakdo Battery breakdown Distance sensor fail Fracture on conductors Mechanical error shortcut on Conductor Moisture creates shortcuts on copper path Conductive debris creates shortcut on copper path 5v sharp object cause fracture on copper path Wire loosen from sensor Mechanical disturbanc Dislocation of sensor Mechani cal wear wn e on sensor Broken wires Compact Fly by wire system Drawing FTA Distanse Sensor Project Author Date A G 16 03 2012 Revision 0 1 Part of SC Description of the The Distance sensor is used for takeoff and landing to measure the exact subsystem distance to the runway water It has a short range and is only used when the aircraft is close to the ground Consequence of If the Distance sensor fails the pilot only has the GPS altitude and visual total failure measurement to show the distance to the ground MTBF 28 365 8
204. s LED Green RCO T1OSO T13CKI Digital Sensor NW RC1 T1OSI CCP2A Mcc 3 enable RC2 CCP1 RC3 SCK SCL RC4 SDI SDA RC5 SDO TX RC6 TX1 CK1 RX RC7 RX1 DT1 Mcc 2 enable RDO PSPO ADO RD1 PSP1 AD1 RD2 PSP2 AD2 Enable Controller RD3 PSP3 AD3 Direction R RD4 PSP4 AD4 RD5 PSP5 AD5 Step RD6 PSP6 AD6 RD7 PSP7 AD7 5V BUCK PIC18F8520 PIC18F8520 Compact Fly by Wire Main Controller Card Component schematic Author Sindre Andersen Version 1 Date 21 05 2012 REO RD AD8 RE1 WR AD9 RE2 CS AD10 RE3 AD11 RE4 AD12 RES AD13 RE6 AD14 RE7 CCP2C AD15 RFO ANS RF1 AN6 RF2 AN7 RF3 AN8 C2IN RF4 AN9 G2IN RFS AN10 C1IN CVREF RF6 AN11 C1IN RF7 SS RGO CCP3 RG1 TX2 CK2 RG2 RX2 DT2 RG3 CCP4 RG4 CCP5 RHO A16 RH1 A17 RH2 A18 RH3 A19 RH4 AN12 RHS AN13 RH6 AN14 RH7 AN15 RJO ALE RJ1 OE RJ2 WRL RJ3 WRH RJ4 BAO RJS CE RJ6 LB RJ7 UB V AAAAAAAA AAAAVVVV AA Reset Controller NW Step RA Step LA Direction RA Reset Controller LA _ Pitch 1 ANALOG POSITION LA Analog Position RA Spare_Al21 Analog Position E Spare_Al22 Digital Sensor E Enable Controller NW Digital Sensor LA Digital Sensor RA Direction LA Reset Controller RA Step NW Direction NW Analog Position R Analog Position NW INTERNAL VOLTAGE READ EXTERNAL VOLTAGE READ Reset Controller R Step E Direction E 1 WIRE 5V BUCK 10k ENABLE CONTROLLER NW E PULLUP 10k 13 8 ENABLE CONT
205. s LM7805 pdf 02 02 2012 Owner and date K M 02 02 2012 6 21 Current regulators Part of Background We need a regulator to control the current to each stepper motor Critical component function The regulator should be able to give maximum 2 A to each stepper motor Positive aspects This regulator will give maximum 2 A to each stepper motor And there is no risk that one motor use more current and that it will affect on the other stepper motors Risk Profile N A Time spent Hours 1 Replaces 6 21 2 Reference N A Owner and date R L 01 02 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE eee Issue date 22 05 2012 Version 1 0 Page 31 of 34 Part of MCC Background We need a regulator to control the current to each stepper motor Critical component function The regulator should be able to give maximum 2 A to each stepper motor Positive aspects It will regulate the total current to the 5 stepper motors to maximum 10 There is a possibility that one stepper motor will use more than 2 A which will Risk Profile cause in to little current to the other motors Time spent Hours 1 Replaces N A Reference N A Owner and date R L 01 02 2012 6 21 3 This is not needed because of the current regulators on the stepper controllers 6 22 HMI LEDS
206. s N A Reference http www opencircuits com Input protection page modified 26 October 2011 Owner and date O R 20 02 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HAROWARE RESEARCH Issue date 22 05 2012 REV1 0 Version 1 0 Page 11 of 34 Part of Every input from both MCC and SC cards Background We need to protect our circuit against the horrible outside world from voltage surges Critical component function The component needs to react fast enough to protect the microcontroller from voltage and current surges Positive aspects Good protection You can protect four lines at each unit Cheap Does not take a lot of space Negative aspects N A Time spent Hours 2 Replaces 6 6 1 Reference http www alldatasheet com datasheet pdf pdf 122751 LITTELFUSE SP724AHT html 20 02 2012 http www dz863 com datasheet 81345363 SP724AHT Tvs Diode Arrays Scr Diode Array For Esd And Transient Overvoltage Protection 20 02 2012 Owner and date S A 20 02 2012 Part of Every input from both and SC cards Background We need to protect our circuit against the horrible outside world from voltage surges Critical component function The component needs to react fast enough to protect the microcontroller from voltage and current surges Positive aspects Adding resistors and capacitors wil
207. s and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document Software description Issue date 29 05 2012 Version 1 0 Page 2 of 12 TABLE OF CONTENTS 1 PURPOSE mE 3 2 ABBREVIATION mesen 3 3 alzgagenrs e 3 3 4 3 1 Cade langages Lo ete akk age 4 3 2 State failure research tete eet tet ea ete ee Om eaten e seges 4 3 3 Single failure SG PEE 4 3 4 2 5 3 5 SIMO 6 3 5 1 Generic 00 ass sand nnda 6 3 5 2 Telnet Protocol 7 4 GODE 20255 22 7 4 1 dere 7 4 2 GEL 8 4 3 8 5 MAIN CONTROLLER CARD i anuunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 9 6 iidem 10 7 COMMUNICATION PROTOCOL annnunannnnnnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnn
208. s document is also useful for looking at key functions of the component and where it is used in the system 4 Technical Term Standard Definition K M KjetilMj s A G Axel Gravningsbr ten S A Sindre Andersen T A Thomas Andersen R L RunarL ken Ole Riiser MCC Main Controller Card Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE eee Issue date 22 05 2012 Version 1 0 Page 5 of 34 SC Supervision Card MCU Microcontroller Unit MIPS Million Instructions Per Second EEPROM Electrically Erasable Programmable Read Only Memory USART Universal Synchronous Asynchronous Receiver Transmitter PWM Pulse Width Modulation CCP Capture Compare PWM Table 1 Abbreviation 5 HARDWARE RESEARCH TEMPLATE Part of Background Critical component function Positive aspects Negative aspects Time spent Hours Replaces Reference Owner and date Table 2 Hardware research template 6 HARDWARE GROUPS 6 1 Production Part of Production of the card Background We need to decide for which producer who will print our circuit Critical component function Fast delivery and quality production Positive aspects Fast delivery multi layer production Negative aspects N A Time spent Hours 1 Re
209. se the 5v Regulator Fracture on output lines controller to loosen breakdo wn Fracture on input lines OR Project Compact Fly by wire Stepper controller FTA S A A G 17 04 2012 0 3 Drawing Author Date Revision Part of Description of the The stepper controller receives commands from the PIC18F8520 and controls subsystem the stepper motor accordingly Consequence of total failure If the Stepper motor controller stops working the MCC receive feedback from the control plane sensors and it will register a deviation between the desired position of the control plane and the actual position The MCC sends a status report to the SC and it will simultaneously change the color on the HMI LED from green to red MTBF 31 784 5 hours between failures Ref Excel diagram MCC Rev0 2 xIsx Time spent Hours 5 hour Owner and date 18 04 2012 A G S A Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 15 of 34 Page Fault tree diagram Fracture on input wires Sharp object causing fracture Mechani cal wear Stepper motor fail Stepper motor skipping steps Electrical Mechanical failure failure OR
210. sion 1 0 Page 4 of 8 4 SCALE 1 2 Very unlikely 3 4 Unlikely 5 6 Possible 7 8 Likely 9 10 Very likely Table 2 Scale 5 TEMPLATE Riskt Name Probability Consequence Description Probability Prevention Consequence Solution Owner amp date Table 3 Templ 6 RISKS ate 6 1 Requirement risks Description The group has not met the A requirements Probability Unlikely We have to work properly with our tasks comply with deadlines and choose Prevention the most effective solutions Our product will not meet the requirements of our contractor and we will end Consequence up with a product with lack of basic functionality Owner amp date S A 11 01 2012 Table 4 Risk 1 Description The group has not met the B requirements Probability Possible We have to work properly with our tasks comply with deadlines and choose Prevention the most effective solutions Our product will not meet all the requirements of our contractor and we will Consequence end up with a product with lack of functionality Owner amp date S A 11 01 2012 Table 5 Risk 2 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Risk document Issue date 26 05 2012 Version Risk3 Not satisfied C req 1 0 Page 5 of 8
211. some LED to our system and see if 04 01 2012 R L we can control them ON OFF R231 2 The system must be able to recharge the Tablet 03 01 2012 A G PC via the USB 1231 2 check this we will see if the Tablet PC is 04 01 2012 R L recharging when it is connected to our system through the USB R232 2 The weight of the actuating mechanism for each 03 01 2012 A G actuating point must not exceed 0 6kg T232 1 We have to weigh the actuating mechanism for 03 01 2012 R L each actuating point to check if they are below 0 6 kg Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 8 of 14 5 4 Failure tolerance R301 2 A Manual override of critical control circuit choice 01 11 2011 K M T301 1 When the system is running we will change the critical control circuit choice by the manual switch We will have four choices and for all the changes in circuit choice the system will change control circuit without lagging or losing data 20 12 2011 A G R302 3 Use dual modular redundancy 19 12 2011 A G T302 2 To test the dual modular redundancy we will shut down the operating part of the system to check if the second part will take over without losing too much data in the process 20 12 2011 A G R304 1 Ability to c
212. successfully loaded You can now press write and the hex file gets loaded into the PIC controller It is recommended to restart the PIC after the code has been loaded to get a clean start up 3 2 3 Where to find Information Documents we used a lot while developing the system e Wiring Diagram for MCC Here you can see where every wire is connected on the MCC and which pin on the PIC that goes to which connector e Card Configuration This is a great reference for programmers It is an Excel sheet with explanation on which pins that are used on the microcontrollers and what they interface with e Schematic for MCC Self explanatory a schematic for the PCB e PCB Layout MCC This requires the user to have the Proteus PCB Design Package but is a great way getting to know the PCB card and troubleshooting the circuit Equator Aircraft Norway mail Gequatoraircraft com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 8 of 15 3 3 The Supervisor 3 3 1 Introduction Figure 6 SC Part description 1 LPC1768 Cortex m3 microprocessor When we received this core board there was some buttons and sensors on it which had to be removed since we use these pins on out PCB 3 3Volt 800mA regulator 5V regulator for charging USB device and level conversion GPS device IMU device magnetometer Gyroscope and accelerometer Level conversion for co
213. t Additional Tests Issue date 29 05 2012 Version 1 0 Page 6 of 8 When we make the PCB layout we need to cross check that we make the right connections as we go it is very important that the person who makes the layout in Ares has control over the system and can recognize if the signal and power lines Description when it is routed Why We need to do this test so we don t make a pcb card that doesn t function properly When the card is routed we need to check the card configuration document so we How know that the routes are correct Owner O R Date 19 03 2012 Success rate Accumulated hours 0 5 The layout and schematic was cross checked with card configuration and we needed Result to update the card configuration We need to cross check that all the microcontroller description pins are compatible with the signal that it is connected to Necessary changes We needed to change the card configuration so it is compatible Owner O R Date 19 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Additional Tests Issue date 29 05 2012 Version Description 1 0 Page 7 of 8 Priority 9 Budgeted hours 3 We are testing to see how the stepper controllers is reacting if they are paralleled Why We need to determine if our redundant syste
214. t com Document Risk document Issue date 26 05 2012 Version 1 0 Page 8 of 8 Description That we are using more time than expected Probability Very likely Prevention Work evenly hard during the whole project Consequence We get less leisure and we may not finish all of the tasks Solution Work more and make the right priorities Owner amp date S A R L 12 01 2012 Table 18 Risk 15 Description That we are using less time than expected Probability Very unlikely Prevention Have a list of different tasks and improvements Consequence We get more leisure and finish all tasks Solution We need to find tasks and improvements Owner amp date S A R L 12 01 2012 Table 19 Risk 16 7 REVISIONS Responsible person for this document procedure or template 01 templates wrote introduction and made the requirement 11 01 2012 R L amp S A 02 Made risks 1 16 12 01 2012 R L amp S A 03 Fixing grammar 12 01 2012 A G 04 Did some cosmetic changes to the tables 13 01 2012 A G 1 0 Made the PDF copy and checked the document for errors 13 01 2012 A G Table 20 Revisions Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 4 ALTAE UNS ACCOUNTING DOCUMENT Compact fly by wire system 7 2 9 Released 29 05 2012 S A A G O R
215. t com www equatoraircraft com Document Technical User Manual Issue date 26 05 2012 Version 1 0 Page 10 of 15 The software code and the XML file can be found in the Software folder The aircraft that the code is made for is not part of the original aircraft library This aircraft is called Long EZ and can be downloaded from the page http www flightgear org download aircraft v2 4 16 05 1012 To implement this in FlightGear find the FlightGear folder on your computer and unzip the downloaded folder to FlightGear Data Aircraft The XML code should be placed in the folder Flightgear data Protocol After finishing the downloading connect the Arduino microcontroller to you PC and push the Flightgear Icon shown under to start the simulator Figure 1 Icon for flightgear When FlightGear starts you get the screen sown under Here select the aircraft Rutan Long EZ and push next Boeing 777 200ER 6M2 A6M2 Zero JSBSim A6M2 Zero ASK13 ASK 13 Passenger View Schleicher ASK 13 Glider 519004 Beechcraft 019004 00105 Eurocopter 105 172 Cessna 172 Skyhawk 1981 Panel only for IFR training Ce Cessna 172P Skyhawk 1981 CitationX Cessna Citation X Cub Piper J 3 Cub J3C 65 1946 n 2 de Havilland Beaver Floats de Havilland Beaver Wheels Dragonfly Moyes Dragonfly f 14b F 14b multiplayer back seater Grumman F 14B Rutan Long EZ Senecall PA34 200T Seneca
216. t control features of the Compact Fly By Wire System This is a document directed only towards the user interface and contains no technical documentation or data For technical support please read the Technical User Manual SC The SC is a supervisor Card that supervises the system and reports errors and alarms It also supervises the pilot inputs and can prevent critical pilot errors like stalling and altitude misjudgment during landing If the SC is turned off read Analog HMI the system will work normally without any safety features JOYSTICK The joystick is the most important part of the system as it is what transfers your inputs to the system and further out to the control surfaces Note All the joystick axes sends out a linear control signal Pitch By using the Pitch axis on the joystick the forward and backward movement you will control the elevator Pushing the elevator forward will point the elevator down and during flight the aircraft nose will point down and you will lose altitude By pulling the stick towards you the elevator will point upwards and during flight the aircraft will point upwards and you gain altitude When SC is activated a stall limiter will prevent the aircraft from stalling by stopping the elevator movement upwards if the aircraft is close to stalling speed when attempting to increase altitude make sure you have WARNING When the SC is deactivated be aware of the stall sufficient speed
217. t full load from the electric engine and when it is recharging with the generator If the voltage varies less than 4V from 13 8VDC the test is passed 10 01 2012 R L Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 6 of 14 R218 2 When the landing gear is retracted the nose wheel actuator is disabled 03 01 2012 A G T218 2 We will simulate an input signal from the retracted landing gear sensor and then try to send a command to the nose gear If no command is given the test is passed 04 01 2012 R L R219 2 When the retract landing gear command is given the nose wheel will first go to zero position and then be retracted 03 01 2012 A G T219 2 Since we have to use a FAT we will test this requirement by observing the actuator when the retract landing gear command is given to the system If the actuator goes to zero position before the command to retract the landing gear is given the test is passed 04 01 2012 R L R220 2 The system must be open for additional external input for positional data and heading references 03 01 2012 A G T220 2 In this test we can simply test if the additional external inputs are able to receive the proper data 04 01 2012 R L R2
218. t of document revisions Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 7 2 2 7 7 EZ 4 a NS EFE Risk Analysis Group 3 Compact Fly by wire system 1 0 Released 26 05 2012 S A R L A G S A NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version of this document is available from the Company Intranet DropBox This document contains Equator Aircraft Norway legal entity proprietary and confidential information that is legally privileged and is intended only for the person or entity to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document Risk document Issue date 26 05 2012 Version 1 0 Page 2 of 8 TABLE OF CONTENTS 1 LIST OF TABLES e 3 2
219. t will save us a lot of time later on in the project As soon as we got the project there was a set of documents we needed to deliver Idea Document Requirements Specification Test Specifications and the Project plan This is to be prepared for the next phase so we can start this as efficient as possible The first phase ends up as the first presentation where we have to know exactly what we are making and when the different parts can be made Find a Proper Project Get the idea behind it and deliver the Idea Document Make Templates Deliver Project Plan Requirement and Test specification Do the first presentation Table 3 List of important tasks in phase 1 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 Page 11 of 18 Setting up document standards project planning 15 08 2011 25 09 2011 60 and initial research Meetings 15 08 2011 01 01 2012 60 Setting up budget 01 12 2011 01 01 2012 2 Making a Webpage 15 08 2011 01 01 2012 30 The First Presentation 01 01 2012 10 01 2012 20 Making the Idea Document 01 09 2011 01 10 2011 40 Writing the Technical Requirements 01 10 2011 05 01 2012 60 Writing the Test Specification 01 10 2011 05 01 2012 30 Writing the Project Plan 01 10 2011 05 01 2012 50 Table 4 List of a
220. tage regulator Part of Joystick power supply Description Will regulate the power from 13 8 V down to 5V needed for the analogue conversion for the joystick Critical component Output current greater than 1 5A function Internal thermal overload protection nternal short circuit current limiting Output voltage 1 25 to 37V Operating temperature 0 125 Output noise voltage 0 003V Positive aspects Cheap Negative aspects Time spent Hours Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document HARDWARE REE Issue date 22 05 2012 REV1 0 Version 1 0 Page 30 of 34 Replaces Reference http www sparkfun com datasheets Components LM317 pdf 02 02 2012 Owner and date K M 02 02 2012 Part of Joystick power supply Description Will regulate the power from 13 8 V down to 5V needed for the analog conversion for the joystick Critical component function Output current up to 1 5A Internal thermal overload protection Internal short circuit current limiting Min input voltage 7V Max input voltage 25V Output voltage 5V 0 2V Operating temperature 0 125C Output noise voltage 40microV Positive aspects Cheap high ripple noise rejection Negative aspects Time spent Hours Replaces Reference http www sparkfun com datasheets Component
221. tepper Controller Schematic drawing motor power supply 8 35V VDD microcontroller GND logic power supply 3 5 5V Description Each Stepper controller is controlling one stepper motor it is five stepper controllers on each MCC controlling the Nose wheel rudder right aileron left aileron and the elevator Function The stepper controller will amplify and convert a directional pulse from the PIC18F8520 to a current signal to the motor controlling the speed and direction The stepper controller will be enabled or disabled by the PIC18 And can be reset if desired I O specification Output PIC18F8520 Input A4899 Ref MCC Card configuration STEP Ref MCC Card configuration RESET Ref MCC Card configuration DIR Ref MCC Card configuration ENABLE 13 8V VMOT GND GND 5V VDD GND GND Output A4988 Stepper motor 1A Red 1B Yellow 2A Orange 2B Blue Vin amp Imax 8 35 Vi amp maximum 2A coil 2 coils 4A MTBF 31 784 5 hours Price 12 95 USD References 7 1 1 5 data sheet of the A4988 Author date A G and R L 07 03 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document System Description Issue date 26 05 2012 Version 1 0 Page 7 of 14 5 3 Sensors Picture Description This device will give us the temperature o
222. terature transactions volume2 analogsignal3 html 25 01 2012 Owner and date S A 25 01 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document BARDIA Issue date 22 05 2012 REV1 0 Version 1 0 Page 10 of 34 Part of Communication between the devices Background We need to avoid as much noise as possible Critical component function Avoid noise Hopefully the current in the power cables will not be high enough to affect the signal cables noticeably Less work than shielding the power and signal cables Positive aspects separately Negative aspects The Current that goes through the power cable might interfere with the signals Time spent Hours 1 Replaces N A Reference N A Owner and date S A 25 01 2012 6 6 Input protection for microcontroller Part of Every input from both MCC and SC cards Background We need to protect our circuit against the horrible outside world from voltage surges We found one simple solution with a current limiting resistor and an 5 5 volt MOV metal oxide varistor this circuit will protect against 8KV zapps without affecting the operation Critical component The components need to react fast enough to protect the microcontroller from function voltage and current surges Positive aspects Cheap and good protection CE approved Negative aspects Time spent Hours 2 Replace
223. the tablet An android app with an intuitive GUI also needs to be made Code optimalization The MCC s are using an 8bit controller The code can be optimized for this processor in order to make it more efficient Stepper motor acceleration To get the optimal performance of a stepper motor it needs to have a controlled acceleration The first steps needs to be slow before it can speed up to ensure the motors does not skip step Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Improvement recommendations Issue date 28 05 2012 Version 1 0 Page 6 of 6 4 REVISIONS Responsible person for this document procedure or template 01 Created this document and made all of the improvements 25 05 2012 S A K M general SC HMI Joystick and software improvements Checked the document for errors did small changes and A G 1 0 changed the name of the document from Improvement 28 05 2012 Document to Improvement recommendations Table 2 Revisions Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Conclusion The system we made is an important step within the small plane aviation industry We have proven that it is possible to make a cheap and available Fly By Wire system that can easily be implemented in most small airplanes The system makes the airplane lighter safer and gives the pilot a simpler envir
224. tor Battery Fuse Fuse Fuse Blows Drawing FTA HMI LED s breakdown breakdown Blows Blows Blows Author Date 18 04 2012 Revision 0 2 Sharp object fracture conductor Part of HMI Panel Description of the The HMI LED s indicate the state of the corresponding MCC s or SC subsystem The LED s can be tested using a lamp test button Each LED is Powered by its respective MCC SC Consequence of If the one or more LED s fail it will not be a critical failure to the function of the total failure system However if the SC is down along with the LED s the pilot will not know which of the MCC s to use And he will think every MCC not having a working LED is down and he is probably right Therefore it is important of safety reasons that the LED s work at any given time MTBF 1 346 4 hours between failures Ref Excel diagram HMI RevO 1 xlsx 1 346 hours seems like a short time and it is However this number does not represent the lifetime of the LED It rather represent the time between each time the system fails to provide power for one or more LED s Time spent Hours 3 hours Owner and date A G 19 04 2012 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 32 of 34 Fault tree diagram One or more Switches fail MCC s
225. tor breakdown this is events that have a direct impact on our system but is external events that we cannot influence Generator Battery breakdown breakdown This logic gates combination with the OR gate directly after the AND gate is generally not a common way to do it But we have decided to do it like this just to save space and time on the drawing There would normally be a consequence between the AND and the OR gate However since this combination with the battery and the generator is used so often we wanted it to use as small space as possible The result is still the same Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Fault tree analysis Issue date 29 05 2012 Version 1 0 Page 6 of 34 2 ABBREVIATION Technical Term Standard Definition K M Kjetil Mj s A G Axel Gravningsbraten S A Sindre Andersen Thomas Andersen R L RunarL ken O R Ole Riiser FTA Fault Tree Analysis MTBF Mean Time Between Failure IP degree of protection number telling you how waterproof amp dustproof IP Code capsule box or component is 3 TEMPLATE Fault tree diagram Part of System Description of the Function subsystem Consequence of total failure MTBF X hours between each failure Ref excel diagram Time spent Hours 3 hours Owner and date A G 02 0
226. ttons on the Analog HMI board you will then choose the respective MCC as operative You can also see the status of each card on the LEDs To ensure that the system starts up correctly when powered check if all the LEDs turn green before take off If any LEDs don t turn green try to turn off the power for 5 seconds and repower the system If the problem persists contact a technician Figure 2 Analog HMI ceca Document USER MANUAL Issue date 28 05 2012 Version 1 0 Page 7 of 7 6 FURTHER INFORMATION 6 1 1 1 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com For a more detailed explanation of the functions please read SW description HW description For information on how to assemble the system and troubleshooting please read System topology MCC wiring diagram SC wiring diagram HMI wiring diagram Contact For further assistance please do not hesitate to contact Equator Aircraft Norway on Home page e mail phone Visit Post address http www equatoraircraft com mail equatoraircraft com 47 970 39 469 Brugata 11 0186 Oslo Norway Maridalsveien 64C 0458 Oslo Norway EZ 4 LAT UN XML Technical Manual Compact FBW System Equator Aircraft NOTES REGARDING VALIDITY OF THIS DOCUMENT Paper copies are uncontrolled This copy is valid only at the time of printing The controlled version
227. ty to which it is addressed and any unauthorised use is strictly prohibited It is provided for limited purpose and shall not be reproduced stored electronically transferred to other documents disseminated or disclosed to any third parties without the prior written consent of the relevant Equator Aircraft Norway legal entity Any attachments are subject to the specific restrictions and confidentiality regulations stated therein and shall be treated accordingly The document is to be returned upon request and in all events upon completion of use for which it was provided Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 2 of 14 TABLE OF CONTENTS 1 PURPOSE 3 2 ABBREVIATION eec 4 3 i i elm 4 4 DEFINITIONS mc 4 5 REQUIREMENTS amp TEST SPECIFICATION rnnnnvnnnnvnnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 5 5 1 COMMENT S EET 5 5 2 Environmental conditions 5 5 3 Overall system 5 5 4 Failure tolerante 8 5 5 SUELE 8 5 6 IARC IRE 10 5 7 OYSUCK 11 5 7 1 Important notes to the
228. unds We should also make an equipment list for the project When we look at the different phases and disciplines we can clearly see that all the disciplines extend over close to all the different phases This property makes the model resistant to errors and if it is necessary to change some specifications or requirements this model is very modular Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Project plan Issue date 25 05 2012 Version 2 Page 8 of 18 8 2 8 2 1 8 2 2 8 2 3 8 2 4 8 2 5 PROJECT PLAN Conditions It is several conditions that have to be met in order to finish the project the parts we need have to be ordered in time so we have time to implement and test them on the system Therefore one of the important tasks is to find the right actuators and components draw a circuit board and order the parts as early as possible However in case something unexpected is to happen we will need to have an emergency plan ready Another important factor is that the group have to put in a maximum performance as a whole and also individually It is important for our group to have a precise timetable to follow We have to make good plans ahead and try not to make the tasks too big and difficult so they can be more foreseeable and easier to meet the deadlines Project objectives The goals for this project is do implement a fly by wire system in th
229. urce code and a more detailed description of the software will be on the CD 2 ABBREVIATION Technical Term Standard Definition K M Kjetil Mj s A G Axel Gravningsbr ten S A Sindre Andersen T A Thomas Andersen R L Runar L ken O R Ole Riiser 3 DEFINITIONS Name Description MCC Main Controller Card SC Supervision Card MCU Microcontroller Unit MIPS Million Instructions Per Second EEPROM Electrically Erasable Programmable Read Only Memory USART Universal Synchronous Asynchronous Receiver Transmitter PWM Pulse Width Modulation CCP Capture Compare PWM SPOF Single Point Of Failure Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Software description Issue date 29 05 2012 Version 1 0 Page 4 of 12 3 3 1 3 2 3 3 RESEARCH Code language When writing code for the Main Controller Cards we had the option to write code in C or Basic We have chosen C The main reason is because it is more used and support is easier to get State failure research We have to consider how the system will respond to a failure to the critical system functions MCC and the SC Therefore we have done some state failure research Explanations to the Tables Green V means that the card is working properly Red X means that the card is not working properly or has broken dow
230. ut in opaste direcbon will also functon the rudder on a boat when the arplane is deployed on water Cem amr gt Document Requirement amp Test Specification Issue date 23 05 2012 Version 2 Page 4 of 14 2 ABBREVIATION Technical Term Standard Definition K M Kjetil Mj s A G Axel Gravningsbr ten S A Sindre Andersen T A Thomas Andersen R L Runar L ken Ole Riiser Inertial Measurement Card is an electronic device that measures and reports on the aircraft s orientation and gravitational forces using a IMC IMU combination of accelerometers and gyroscopes MTBF Mean Time Between Failures MCC Main Controller Card SC Supervision Card 3 REFERENCES 1 Idea document For definition of the project 03 01 2012 2 http Awww ipc org 4 0_Knowledge 4 1 o 03 01 2012 Standards IPC A 610E redline April For description of soldering standard IPC 2010 pdf 610 3 http www tronico fi OH amp NT docs NM For description of the NMEA 0183 03 01 2012 EA0183 pdf protocol 4 Standard specification for design and 04 01 2012 performance of a ASTM F2245 11 Light Sport Airplane 5 Development Process Aerospace Fly By 04 01 2012 SAE ARP5007A Wire Actuation system 6 Description of Actuation systems for 04 01 2012 aircraft With Fly By Wire Flight Control SAE AIR4253A Systems 4 DEFI
231. uting layers and the bottom layer as ground plane This setup will create a Faraday cage and will exclude magnetic interference It should be used surface mounted components instead of through hole to decrease the mass of the component and the inductance in the component legs this will also make them more resistant to vibrations It should also be done a job regarding ground plane problems If the card will be created as 4 layers it will remove some of these issues The cards should be mounted inside a metal box and ground should be connected to the box to create a good ground connection This electric field will lead to better shielding The screw holes internally on the cards should be connected with the ground plane to have more ground connections 3 1 2 3 1 4 HMI should be made some more spare connectors on the cards to have the pins on the microprocessor available should be chosen an IMC designed for tough environments Since our product is a proof of concept and we have a small budget compared to the final system we did not feel it necessary to choose an expensive module special designed for this application It should be used buttons which are connected to each other mechanically to prevent two MCC cards to be activated at the same time This means that if you activate one button all of the other will be deactivated 3 1 5 Joystick Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com
232. we get the wrong parts or do not get the ordered parts at Description all Probability Very unlikely We cannot do much if we get the wrong parts We have to trust the producers Prevention and distributers There is a big probability that we will not be able to order new parts in time Consequence which leads to an unfinished product Order new parts on express mail and hope the reorder will be delivered in Solution time Owner amp date S A R L 12 01 2012 Table 9 Risk 6 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com Document Risk document Issue date 26 05 2012 Version 1 0 Page 6 of 8 technical solution Description Some of the members have different opinions about the technical solutions Probability Likely Prevention This is a positive risk Some of our members may feel run over by the others and we spend more Consequence time than if everyone agree with the solutions Solution We have to discuss analyze and agree with one solution Owner amp date S A R L 12 01 2012 Table 10 Risk 7 Risks Probability for loss of data Description The probability for loss of data if we get a computer crash Probability Very unlikely Prevention We have data backup on dropbox and on every computer Consequence Loss of data Solution We have to rewrite the lost documents if we have time Owner amp date S A R L 12 01 2012 T
233. when the nose wheel is mounted 16 05 2012 A G 5 REVISIONS Responsible person for this document procedure or template 0 1 Made Templates 12 01 2012 Lr 0 2 Made 2 2 1 25 01 2012 A G 0 3 Made Schematic test results layout test with results 20 03 2012 O R 0 4 See Additional Tests 24 04 2012 A G 0 5 See Additional Tests 27 04 2012 A G 0 6 See Additional Tests 04 05 2012 O R Made R102 R105 R106 R107 in 4 1 Made R216 4 R220 2 R221 2 R222 2 223 2 R225 2 R226 2 R227 2 R228 2 R229 2 R230 2 R231 2 R232 2 in 4 2 d Made R304 1 R305 2 R306 1 R309 1 R310 1 4 1905 2012 AG Made R501 3 R502 2 R504 2 R505 3 R506 3 R509 1 R510 1 R511 1 R512 1 R518 2 R519 1 in 4 5 Made 4 2 Made R207 2 in4 2 Made R601 1 R612 1 R602 2 R603 2 R604 1 R605 1 R606 2 R607 2 R608 1 R609 1 R610 2 0 8 R611 3 in 4 6 16 05 2012 A G Made R702 1 R703 1 R704 1 R708 1 R711 1 R714 1 R717 1 R719 2 in4 7 0 9 Made R224 2 19 05 2012 A G Made R401 2 R402 2 R404 4 R405 3 R407 3 0 1 R408 1 R409 1 R410 1 R411 1 R412 2 R413 1 22 05 2012 K M R414 2 R415 2 R416 1 Made 205 4 401 2 R412 2 R709 2 R710 2 R712 2 713 2 R716 2 R718 2 23 05 2012 AG Made R513 1 R218 2 R219 2 Made official copy divided the document 28 052018 Equator Aircraft Norway mail equatoraircraft com www equatoraircraft com 7 2 2 7 7
234. will be of length 7 characters Header 3 body 3 delimiter 1 e All messages sent from the MCC s to the SC will be of length 6 characters Header 2 body 3 delimiter 1 e Messages from the SC will be formatted with a header containing two fields One containing the get set character and the other the value in question e Messages sent from MCC s will be formatted with a header containing only one field the value in question All messages with end with a character Table 5 and Table 6 shows some examples on messages that can be sent between SC and MCC From SC to MCC ES 000 GET elevator step lt EF 000 GET elevator feedback gt Ac XXX 000 001 SET active Table 5 Communication example from SC to MCC From MCC to SC GE XXX 000 999 Answers the request Table 6 Communication example from MCC to SC A list of all the commands possible to send is found in the communication c file in the source code It is also easy to add more GET and SET functions if needed 8 SIMULATOR Name Flowchart Part of Simulator For the simulator we made a software code for the Arduino This code read serial data from our system processing it and sends the modulated data out to flightgear Al the float variables in fligntgear have to be scaled from 1 to 1 excapt throttle that shall be unit scaled we do not want negative throttle this variables are Elevator Ai
235. written due to 22 05 2012 K M a lack of time R414 2 A Passed SC can receive data continuously or by 22 05 2012 K M asking for data This makes it possible for SC to monitor the MCC s R415 2 A Passed The working MCCs are displayed to the 22 05 2012 K M pilot through the HMI LEDs This information can also be displayed through the tablet when the software for it get s developed R416 1 A Passed The status of the MCC is displayed 22 05 2012 K M through the HMI LEDs 4 5 Hardware R501 3 Passed There is Three MCC s they can be mounted anywhere in the airplane where it is desirable and with our current baud rate of 9600 distances of up to 4 meters is no issue 15 05 2012 A G R502 2 Passed The Microcontrollers PIC18f8520 amp LPC1768 are mounted with piggyback and are therefore easily replaceable The stepper controllers are modules soldered on the MCC s The GPS and the IMC are also modules that are soldered on the SC This makes them easily replaceable 15 05 2012 A G R504 2 Failed Due to the limited time we had to do the soldering ourselves 15 05 2012 A G R505 3 N T Due to limited time we do not have time to test this requirement 15 05 2012 A G R506 3 N T Equator Aircraft Norway have to make sure the mounting is correct 15 05 2012 A G R509 1 Passed The MCC s function independent as described 1

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