1.7
Definitions and Acronyms
2
REQUIREMENTS SPECIFICATIONS
it in
/usr/share/gtksourceview
−
3
.
0
/language
−
specs
. Gedit will then auto-
matically highlight the Spin files.
All code is compiled with the
BSTC
compiler. This is available in [5]. This
compiler was selected because it is Linux compatible and it has several optimiza-
tions over the Parallax provided compiler. In addition, it has a command line
interface which makes it easy to integrate into a compilation cycle script.
BSTC
will also download the compiled code via the USB COM port to the Propeller.
All project files are hosted on the project Git repository, hosted by Google
Code at [1]. A Git repository was selected so that all developers would have
equal access to the source files, changes would be logged and trackable, issues
would be trackable, and so that concurrent work on files could be easily merged.
All project files are open source under the MIT license and can be downloaded
freely.
1.7
Definitions and Acronyms
AT
Anzhelka Terminal
$ATxxx
Anzhelka Terminal Communication String
BSTC
Brad’s Spin Tool Compiler
EEPROM
Electrically Erasable Programmable Read-Only Memory
ESC
Electronics Speed Controller
GUI
Graphical User Interface
IMU
Inertial Measurement Unit
OOP
Object Oriented Programming
PASM
Propeller Assembly
PCB
Printed Circuit Board
PID
Proportional-Integral-Derivative
PWM
Pulse Width Modulation
RAM
Random Access Memory
RISC
Reduced Instruction Set Computer
UART
Universal Asynchronous Receiver /Transmitter (serial)
UAV
Unmanned Aerial Vehicle
WYSIWYG
What You See Is What You Get
2
Requirements Specifications
In this section we define the various requirements of the quadrotor platform.
The quadrotor must be able to achieve various goals, and since it is a hard real
time system the goals must be achieved by a specified deadline.
2.1
Guiding Vision
Have you ever mounted a camera on to your helmet and rode down a moun-
tainous trail? What about trying to capture yourself while water skiing? Watch-
ing the video usually turns out shaky and in one perspective. Would it be nice
to be able to see what you did wrong that caused you to fall of your bike? Most
11
