Autonomous Drop-Drone System

Author(s):

Nikolas Vale and Joshua Gray

Abstract:

This report details the design and implementation of both software and hardware developed for an autonomous drop-deployable unmanned aerial vehicle (UAV). The primary challenge addressed is the development of a system capable of detecting a free-fall or tumble state and executing an automated arming sequence to achieve level flight. The solution centers around a Teensy 4.1 microcontroller acting as a high-level “man-in-the-middle” logic processor. This processor reads data from the primary flight controller’s inertial measurement unit, interprets inputs from physical switches and a remote-control receiver, and executes a multistage state machine. The software uses accelerometer and gyroscope data to reliably detect deployment. Upon detection, it executes a timed arming sequence, sending manipulated SBUS control signals to the flight controller. The system’s functionality was validated through a series of drop tests. This work demonstrates the capability for a UAV to be deployed in air and arm and stabilize prior to higher-level autonomy or pilot control.