md4-200 / introduction

Introduction to md4-200

md4-200: introduction

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md4-200: applications

md4-200: technical data

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The md4-200 is a VTOL AUMAV (VTOL = Vertical Take Off and Landing, AUMAV = Autonomous Unmanned Micro Aerial Vehicle).

For lowest weight and highest robustness we have designed the drone completely in carbon fiber reinforced plastics. This carbon mono frame is also a perfect shield against electromagnetic interferences.

Our outstanding AAHRS (Altitude and Attitude and Heading Reference System) uses the following sensortypes: Accelerometers, Gyroscopes, Magnetometer, Airpressure, Humidity, Temperature.

By means of our synchronized, brushless direct drives (transmissionless) the noise level is very low (rpm < 2000, noise < 63dBA @3m). These propulsions recover from stall and overload conditions even at flight time.

The optional GPS provides position hold and autonomous waypoint navigation. more <<

Our onboard flight recorder (microSD card) permits a post-flight analysis in real-time.

With our downlink decoder we provide all important data at the base station (battery state, altitude, attitude, position, flighttime...). For best pilot support we have implemented a talking audio response system (no need to look at a display).

Security features prevent from crashing - autonomous landing on low battery or missing radio signal.

Depending on payload, temperature and wind the vehicle achieves up to 20 minutes of flight time.

By means of our software tools we provide a worldwide accessible service consisting of remote diagnostics and firmware updates.

a) The upper image shows: microdrone md4-200 High endurance 4-rotor VTOL, Complete carbon design, Flight controller, Navigation controller, Gearless brushless motors, Dual conversion FM-receiver, Attitude / Altitude control, Flight duration up to 30 min, 200g Payload, Diameter < 1m, Security features, Low noise (< 63dBA @3m), Water-protected with IO-controller, 5V/1A supply, 2x Standard servo, 2x Switch channel 5V/16V, 1A load, RS-232 extension for zoom camera and other special equipment.

b) The upper image shows: base station 2.4 GHz 4-fold antenna diversity receiver, Internal power supply, Inputs: 230/115VAC, 12/14.8VDC, LiPo Charger and true single cell balancer, USB video grabber, Video splitter 3x out, Downlink decoder for receiving the complete machine state (Battery, Receiver quality, RC-signals, Attitude, Altitude, GPS-position, Flight time etc.). Base station software "mdCockpit", 1.4 Megapixel video eyeglasses, LIPO batteries 4s, 14.8V, 2300mAh included (same as flightpacks for md4-200) Peli case (fits into system case), Dimensions 486 x 392 x 192mm

With the waypoint navigation guidance our drones can be operated fully autonomous including auto start and auto landing.

To archive a customizable waypoint control we have developed a specialized WNSL (Waypoint Navigation Script Language). This script language implements also system and payload control.

A WNSL file can be generated online or offline. Our online software is based on Google Earth™. Once a waypoint file is created it can be transferred to a memory card and plugged into the drone.

A waypoint type can be a "Fly Through Waypoint" (go to the next), or an "Action Waypoint". Every waypoint may have different properties like: Position tolerance, Cruise speed, Yaw angle, Payload options. Action waypoints are able to perform absolute time synchronizations, delays and payload operations.

A typical waypoint sequence expressed in human language would be something like this:

• Start motors
• Set actual GPS position as home position
• Set cruise speed (e.g. 5m/s)
• Set waypoint position tolerance (e.g.+-3m)
• Set relative start altitude (e.g. 3m)
• Perform auto start
• Fly to absolute position (coordinate [ECEF or LLH])
• Turn 30 degrees North (or wherever)
• Set camera tilt angle (e.g. 45 degrees)
• Trigger camera (to take a photo or start/stop video)
• Delay (e.g. for 3s)
• Fly to relative position (x, y, z [m])
• Perform IO action (e.g. drop a ground marker)
• Delay (e.g. for 3s)
• Execute other commands...
• Return to home position
• Perform auto landing
• Turn off motors

Special macro functions like "POI" (Point of Interest) provide unique capabilities:

If this POI is set then all following waypoints will keep the actual view point (yaw angle and camera tilt).

By setting the POI to the center of a tower you can fly around the tower always looking at the center - automatically!

Typical waypoint performance with about 2m position tolerance:

GPS Position Hold:

GPS / INS Implementation:

Future Improvements / Extensions:

• Integration of WNSL editor and simulator into our basic software package "mdCockpit".
• Support of CAN 2.0B protocol, integration of CAN based customized payload control.
• Support of customized swarm communication.
• Support of object tracking.