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- Your team's Project Assignment (read carefully!)
- Helpful Lab notes with detailed instructions on what to do for each session

**Safety Guidelines**

When doing the lab you are required to learn the safety guidelines.**Operation Manual**

The Operation Manual can be found here**LiPo Usage**

How to properly use LiPo batteries can be found here**Hardware Components**

- Frame: Turnigy Talon V2.0 (550mm)
- Motors: Sunnysky X2212-13 980kV
- ESC: Flycolor 20A BCHeli 204S Opto
- Sensor module: GY-86 (10 DOF)
- RF SoC: nRF51822
- wireless: Bluetooth Low Energy
- microcontroller: ARM Cortex M0 CPU with 256kB flash + 16kB RAM

- Hardware: tutorial, tutorial, Standard
- Software: Serial ports, Serial programming Terminal programming
- Tera Term Pro terminal program for RS232 communication via Windows machines (source: hp.vector.co.jp/authors/VA002416/)

Download for Linux.

Download for Windows (7), for experts: manual install on Windows.

The following link shows a log of phi (blue), p (green) after applying a low-pass Butterworth filter with 10Hz cut-off frequency. For designing the filters see the following links:

- IIR Digital Filter Design Applet calculates the a and b coefficients
for your IIR filter according to

b[0] * y[n] + b[1] * y[n-1] + ... = a[0] * x[n] + a[1] * x[n-1] + ...

in the form

y[n] = a[0] * x[n] + a[1] * x[n-1] + ... + (-b[1]) * y[n-1] + (-b[2]) * y[n-2] + ...

Of course, you can also use matlab to compute the coefficients using the butter() command (for a Butterworth filter). - For the diehards who insist on building filters with a higher order than 2, here are some 2nd-order designs (biquads) as basic building block for higher-order IIRs (floating point and fixed point implementations)
- Arjan's [Kalman] filter examples (Matlab)
- Arjan's DSP examples (C)
- Here's a paper of a control systems student who compared a fixed-point and a floating-point implementation of a 2nd-order Butterworth LP filter (as an alternative in4073 task assignment). Special attention is given to the determination of the number of bits required for sufficiently accurate fixed-point representation.

- Drones playing ball!
- What happens if you mistreat LiPo batteries!
- Heavy duty helicopter acrobatics using a Raptor
- How Microcontrollers Work
- UNIX Tutorial for Beginners
- C Tutorial, C Tutorial, GNU C Programming Tutorial (download), GNU C Library