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ACS 2023

This repository contains all (Python 3) code and libraries required for the 2022-2023 Notre Dame Rocketry Team (NDRT) Apogee Control System (ACS). It also contains sensor/actuator example code and flight data. This year's target apogee was 4600 feet. On our 03/26/2023 Vehicle Demonstration Flight, the ACS deployed and successfully reduced apogee from around 5250 feet to 4547 feet, which was only about 50 feet below the 4600 feet target. All flight data was also logged successfully.

Interfacing with the Microcontroller

SSH:

  1. Connect to ND-guest (or hotspot)
  2. Open a terminal
  3. Type ssh pi@mulberry (or ssh pi@mulberry.local if using hotspot)
  4. Enter password ACS_2023
  5. Always use git pull before pushing changes to avoid merge conflicts (git status is also useful)

VNC Viewer (Remote Desktop):

  1. Connect to the Raspberry Pi via SSH
  2. Run vncserver and copy the IP address (same as wlan0 IPv4 from running ifconfig)
  3. Open RealVNC VNC Viewer and enter the copied IP address (with username: pi and password: ACS_2023)
  4. When finished, disconnect the VNC Viewer and run `vncserver -kill :1' to kill connection 1 (check ~/.vnc to make sure no .pid process files exist)

Batteries

  • YDL PL 115659 3.7V LiPo (5000mAh Logic Circuit Battery)
  • 7.4V 2S 3000mAh LiPo (Servo Motor Battery)

Sensors

Sensor Type Sensor Model
Accelerometer ADXL343
Altimeter 1 MPL3115A2
Altimeter 2 BMP390
IMU BNO055

Microcontroller

Raspberry Pi 4 Model B (4GB RAM)

Actuator

DSSERVO DS5180 80kg High-Torque Standard Servo Motor

Subscale Workflow

  • Data Logger Initialization
    • Check for existing data files and find new filename (to prevent overwriting)
    • Create new CSV file with new filename
    • Add Header Row
  • Initialize sensors
  • Read sensor data
  • Add sensor data to new row in CSV file
  • Loop indefinitely

Fullscale Workflow (Control Code Flowchart)

image

Electrical System Images

image

image

ACS_PCB copy

7 4 2 ACS_PCB_Active-min copy

Mechanical System Images

image

Screenshot 2023-04-27 at 21 39 23

Screenshot 2023-04-27 at 21 38 52

Miscellaneous Notes/Troubleshooting

  • Command: ssh pi@mulberry
    • Error: ssh: Could not resolve hostname [hostname]: nodename nor servname provided, or not known
    • Solution: Run sudo killall -HUP mDNSResponder and then try ssh pi@mulberry again
  • Command: ssh pi@mulberry
    • Error: ssh: connect to host mulberry port 22: Undefined error: 0
    • Solution: Make sure you run ssh pi@mulberry.local if using a hotspot connection
  • sudo raspi-config
  • iwgetid -r to find out what Wi-Fi you are connected to