Overview
Illustrated in this project is a Lite Machines 110 remote control helicopter that is used to build the first prototype UAV.
Explanation
For debugging both the autopilot and the command and control software, an ideal platform is the choice of the LM-110. It has full flapping, nearly indestructible plastic rotor blades, can take nearly any abuse from software bugs or pilot error. The prototype has the servo controller connected to a laptop through a serial cable instead of having all the hardware onboard. This allows easy debugging and off loads the underpowered LM-110 although this tether limits the functionality of the UAV.
The AVR Mega103 microcontroller handles the real-time tasks onboard while having a UART, PWM output, and 64 I/O lines. The small raised portion on the upper left corner is the actual controller. A custom wire harness is used for interfacing with a high tech receiver, some number of gyros, and 8 servos. The mini-servo controller is used to control 8 servos rather than consuming all of the GPIO lines on the board. The controller can share the 7.2V cell with the xcam with 20mA at 9V due to low power consumption.