Development of a smart clothing product using an Arduino platform

This paper presents a "smart" clothing product implemented as a jacket that contains sensors, a processing unit for display and interaction. The system has the ability to remotely read the data provided by the sensors, ensuring the monitoring of several parameters of the wearer. The following characteristics have been considered: body temperature and humidity, atmospheric temperature, pressure and altitude, the heart beat and number of steps converted into the number of calories consumed and traveled distance. The data is acquired and processed by an Arduino AT Mega 2560, via the I2C bus, digital ports and analog to digital converters, depending on the type of sensors. The processed information is printed on a 128x64 pixel display. To be able to view more pages of information, one can interact with the 4-key keyboard that has been connected to the digital input ports or through a proximity sensor, which will function as a gesture sensor. The processed information can also be accessed from a web server, built on the ESP8266 Wi-Fi module, connected to Arduino's TX/RX lines. A mobile phone or another device can connect to the Access Point and open a web page which displays the values of all sensors, as well as other information. The embedded system was inserted on a jacket and wired according to the sensors and modules usage.

FEATURES OF DETERMINING THE PID REGULATOR PARAMETERS FOR UAV FIRMWARE

The paper considers the practical possibility of tuning the PID controller parameters for the cleanflight firmware family of unmanned aerial vehicles (UAVs) of a rotor type and with a fixed wing during flight. It is shown that this requires the use of radio control equipment with a minimum number of channels equal to eight. An unmanned aerial vehicle (UAV) has been developed based on the OMNIBUSF4V3 flight controller with a built-in gyroscope and accelerometer, BMP280 barometer / altimeter. The scheme of connecting the 3-axis compass HMC5883L via the I2C bus and the GPS receiver u-blox NEO-6M to the controller port UART6 is developed. The firmware used is INAV ver.2.2.1, which supports navigation functions. The designed quadrocopter (UAV) is capable of performing the following flight modes: ANGLE - automatic roll and pitch alignment with horizon angle control, the set value of which cannot be exceeded, thereby achieving stable flight. A gyroscope and an accelerometer are used here to hold the horizon. NAV ALTHOLD - hold height. A barometer is used here, which helps to maintain altitude by air pressure. NAV POSHOLD - a position is being held. Uses GPS. NAV RTH (Return To Home) - return home to the take-off point. NAV WP - flight along a given path, which is approximated by waypoints. In this case, waypoints with such parameters as altitude and its flight speed are superimposed on the selected terrain map in the configurator. For low engine speeds, the possibility of using the AIR MODE mode to increase the efficiency of the PID controller is shown. The possibility of using the program STM32 Flash loader demonstrator as a programmer for flashing the flight controller OMNIBUSF4V3 with any Cleanflight family firmware is shown. It was found that for setting the parameters P, I, D it is possible to use a three-position switch on one of the control channels and a variable resistor on the other channel. If the resistor is calibrated to three positions, three parameters can be adjusted, and five parameters to five positions. The issue of tuning the flight stability of the copter is considered. With a sharp increase in the throttle, a crash of the copter in one of the sides and its fall is possible. It was established that in order to prevent this, it is necessary to use identically selected ESC controllers, motors and the correct setting of PID parameters, in particular according to YAW.