| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 103 === Abstract：
This thesis presents the full development cycle of a programmable, lightweight control architecture capable of autonomously guiding a 15 gram flapping MAV by using onboard sensing and computational resources. In the earlier phase of the work, the prototyping of the control board housing an ATmega328P microcontroller, interfaced with Inertial Measurement Unit (IMU) and a pressure sensor is described. These chapters also dissect and examine in detail the choice of sensors, the practical usage of sensor data and control methods to actuate the MAV. The prototype board is used for a proof-of-concept flight test where the flapping wing MAV is autonomously guided towards a preprogrammed direction.
The following chapters describe the design and development of the integrated control chip named “M1AP” housing all the components that are required. The M1AP is a fully functional and programmable chip compatible with Arduino platform, weighing 0.75 grams in weight. It includes interfaces for I2C, digital input and output, Analog input and output and also SPI programming. The standard operating procedure for uploading the firmware to M1AP is described and consequently, the direction seeking program performed during prototype stage is repeated with the new chip and the results are discussed.
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