Changes

== Avionics ==

== Avionics ==

The main controller for our payload will be a Teensy 3.2 from PJRC. This micro controller not only is compatible with Arduino code and the Arduino IDE, but contains a host of additional features including an ARM processor, 2 I<math>^{2}</math>C channels, and capabilities to connect to a CAN bus.

The main controller for our payload will be a Teensy 3.2 from PJRC. This micro controller not only is compatible with Arduino code and the Arduino IDE, but contains a host of additional features including an ARM processor, 2 I²C channels, and capabilities to connect to a CAN bus.

=== Sensor Fusion ===

=== Sensor Fusion ===

See https://www.overleaf.com/3972499sxgwkz. Kalman filtering and sensor fusion (see figure [fig:fusion]) will be used to get accurate and fault-tolerant values for orientation, position and velocity.

See https://www.overleaf.com/3972499sxgwkz. Kalman filtering and sensor fusion (see figure [fig:fusion]) will be used to get accurate and fault-tolerant values for orientation, position and velocity.

[fig:fusion]

[fig:fusion]

(orientation) at (0.5,-2.5) <span>'''Orientation'''</span>; (velocity) at (2.5,-1.25) <span>'''Velocity'''</span>; (angvel) at (0,-1.25) <span>'''Angular velocity'''</span>; (position) at (3.5,-2.5) <span>'''Position'''</span>;

(orientation) at (0.5,-2.5) <span>'''Orientation'''</span>; (velocity) at (2.5,-1.25) <span>'''Velocity'''</span>; (angvel) at (0,-1.25) <span>'''Angular velocity'''</span>; (position) at (3.5,-2.5) <span>'''Position'''</span>;

(tmp) at (1.5,-1); (mag)–(tmp); (acc)–(tmp); (tmp)–(orientation); (gyro)–(angvel); (angvel)–(orientation); (acc)–(velocity); (gps)–(velocity); (velocity)–(position); (gps)–(position); (baro)–(position);

(tmp) at (1.5,-1); (mag)–(tmp); (acc)–(tmp); (tmp)–(orientation); (gyro)–(angvel); (angvel)–(orientation); (acc)–(velocity); (gps)–(velocity); (velocity)–(position); (gps)–(position); (baro)–(position); -->

= Manufacturing &amp; Assembly =

= Manufacturing &amp; Assembly =