Download Weekly Report 4

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Soldering 101
 Safety Rules
 Safety Glasses
 Fumes vapor deflector
 Soldering Procedure
 Solder the compact part first (eg. Chip that has many legs and hard
to reach).
 Apply flux(adhesive promoter) to the pad and align the component
on the board.
 Once align use the soldering pen and apply heat to the joints until it
seems good connection.
 Clean the flux with alcohol wipes.
 Verify that there is no connection between Ground to Voltage
source after soldering chip and USB.
 In case if you messed up use Solder Wick, vacuum pen or heat gun
to take the solder or component out of the board.
PID - Partial Integral Derivative Controllers
 A PID controller is a control loop feedback system. It calculates an "error"
value as the difference between a measured variable and the desired
outcome. It attempts to minimize error by adjusting the input into the
system.
Filters
For Quadcoptor balance during flying, it is required to implement digital control
methods.
MPU6050 provides accel and gyro, total 6 axis data. Accel data shows
orientation which responds slowly, kind of like a low frequency signal. Gyro
shows a sudden movement data which shows sudden movement values.
Complementary Filter It is a filter that rejects low frequency in one channel, high
frequency in the other channel, and combines them together.
Kalman Filter the Kalman filter estimates a process by using a form of feedback
control: the filter estimates the process state at some time and then obtains
feedback in the form of (noisy) measurements. As such, the equations for the
Kalman filter fall into two groups: time update equations and measurement
update equations. The time update equations are responsible for projecting
forward (in time) the current state and error covariance estimates to obtain the a
priori estimates for the next time step. The measurement update equations are
responsible for the feedback—i.e. for incorporating a new measurement into the
a priori estimate to obtain an improved a posteriori estimate.
Time Update (“Predict”) --------------------->>>> Measurement Update (“Correct”)
XBEE
 XBEEs are linked TX/RX
 XBEE commands