Cansat Course August 8 2006

CanSat Construction
Documentation and Guide

By
Aradhana Choudhuri
Under the guidance of:

DR. KRISHNA DEV KUMAR
1
CANSAT 2005/2006 TEAM:
Aradhana Choudhuri (Team Lead)
Mike Alger (Electronics Lead)
Matthew Bruce (Structure Lead)
Nadine Auda (Recovery Lead)
Mike Tai (Safety Officer)
Gratus Devanesan (Software Lead)
Doug Bowers
Dmitri Ignakov
Hassan Mughal
Afridi Mohsin
Mohammed Ali
2
Table of Contents
1 INTRODUCTION.......................................................................................................................9
1.1 ABOUT CANSAT & THIS MANUAL..............................................................................................9

1.2 PARTS LIST................................................................................................................................10
1.2.1 CANSAT KIT PARTS LIST...........................................................................................................10
1.2.2 CD CONTENTS LIST..................................................................................................................12
1.3 REQUIRED REPORTS....................................................................................................................13
1.3.1 STATUS UPDATE REPORTS...........................................................................................................13
1.3.2 FINAL PRESENTATION.................................................................................................................14
2 SYSTEMS DEVELOPMENT..................................................................................................15
2.1 REQUIREMENTS DEFINITION.........................................................................................................15

2.1.1 STRUCTURE..............................................................................................................................15
2.1.2 SENSOR PAYLOAD & COMMUNICATIONS.......................................................................................15
2.1.3 RECOVERY................................................................................................................................15
2.1.4 POWER.....................................................................................................................................15
2.2 PERFORMANCE BASELINE.............................................................................................................16
2.3 SYSTEMS DESIGN........................................................................................................................16
2.3.1 SYSTEM DESCRIPTION................................................................................................................16
2.3.2 KEY COMPONENT SELECTION......................................................................................................17
3 GROUND STATION HARDWARE ASSEMBLY AND COMPONENT TESTING..........19
3.1 HARDWARE ASSEMBLY.................................................................................................................20

3.1.1 ELECTRONICS............................................................................................................................21
3.1.2 STRUCTURE..............................................................................................................................21
3.2 CONNECTING TO THE COMPUTER & TESTING ROUTINE..................................................................22
4 CANSAT HARDWARE ASSEMBLY AND COMPONENT TESTING..............................24
4.1 POWER BOARD...........................................................................................................................25

4.1.1 HARDWARE ASSEMBLY...............................................................................................................25
4.1.2 TESTING ROUTINES....................................................................................................................26
4.2 COMMAND AND DATA HANDLING BOARD......................................................................................26
4.2.2 CONNECTING TO THE COMPUTER FOR PROGRAMMING......................................................................28
4.3 COMMUNICATIONS BOARD............................................................................................................30
4.3.2 CONNECTING TO THE GROUND STATION FOR SYSTEM OPERATIONS....................................................31
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4.4 SENSORS BOARD.........................................................................................................................32
4.5 RECOVERY SYSTEM MANUFACTURE..............................................................................................34
4.5.1 INTRODUCTION..........................................................................................................................34
4.5.2 MATHEMATICAL FORMULAE........................................................................................................34
4.5.3 CHUTE CONSTRUCTION...............................................................................................................35
4.5.4 EMERGENCY DRIFT CORRECTION METHODS..................................................................................40
4.5.5 METHOD 1: SPILL HOLE............................................................................................................40
4.5.6 METHOD 2: SLITS.....................................................................................................................40
4.6 INTEGRATION..............................................................................................................................40
4.6.1 COMPLETE HARDWARE INTEGRATION............................................................................................40
4.7 INTEGRATED SOFTWARE DEVELOPMENT........................................................................................44
4.7.1 DATA FLOW AND PROTOCOLS......................................................................................................44
4.7.2 HIGH-LEVEL CODE STRUCTURE..................................................................................................45
4.7.3 SAMPLE CODE..........................................................................................................................46
5 CONOPS (CONCEPT OF OPERATIONS)...........................................................................49
5.1 MISSION OPERATIONS TIMELINE & TASK FLOW...........................................................................49

5.2 THE FLIGHT TEAM: RESPONSIBILITIES AND GUIDELINES................................................................50
5.2.1 MISSION MANAGER (MM). ......................................................................................................50
5.2.2 FLIGHT DIRECTOR (FD). ..........................................................................................................51
5.2.3 PAYLOAD MANAGER. ................................................................................................................51
5.2.4 SAFETY OFFICER. .....................................................................................................................51
5.3 NOMINAL MISSION OPERATIONS GUIDELINE.................................................................................51
5.4 CONTINGENCY OPERATIONS DEVELOPMENT...................................................................................52
5.5 CHECKLISTS...............................................................................................................................53
5.5.1 SAMPLE EQUIPMENT CHECKLIST..................................................................................................53
5.5.2 SAMPLE NOMINAL MISSION OPERATIONS......................................................................................54
6 DATA ANALYSIS (POST-MISSION), MATLAB..................................................................55
7 APPENDICES...........................................................................................................................62
7.1 SOLDERING CRASH COURSE.........................................................................................................62

7.1.1 HOW TO MAKE THE PERFECT SOLDER JOINT....................................................................................62
7.1.2 TROUBLESHOOTING GUIDE..........................................................................................................62
7.1.3 FIRST AID................................................................................................................................62
7.2 COMPLETE CHECKLISTS USED IN CANSAT 2006 COMPETITION.......................................................63
7.2.1 OVERALL MISSION CHECKLISTS..................................................................................................63
7.2.2 MISSION OPERATIONS HARDWARE, SOFTWARE AND TROUBLESHOOT CHECKLISTS................................66
7.2.3 MISSION OPERATIONS FAILOVER, TROUBLESHOOT AND SUB-TASK CHECKLISTS.................................68
4
List of Tables
TABLE 1.1: PARTS LIST...........................................................................................................12
TABLE 1.2: GROUP RESPONSIBILITY METRIC SIGNOFF.............................................13
TABLE 1.3: WORK PHASE COMPLETION SIGNOFF.......................................................13
TABLE 2.4: PERFORMANCE BASELINE.............................................................................16
TABLE 2.5: SYSTEM INTERFACE AND OVERALL PRODUCT PARAMETER

MEASUREMENT CRITERIA...................................................................................................16
TABLE 2.6: N-SQUARED CHART OF INTERRELATIONSHIPS AND DEPENDENCIES

........................................................................................................................................................17
TABLE 3.7: REQUIRED PARTS LIST.....................................................................................20
TABLE 4.8: POWER BOARD REQUIRED PARTS LIST.....................................................25
TABLE 4.9: C&DH BOARD PARTS LIST..............................................................................26
TABLE 4.10: RADIO BOARD PARTS LIST...........................................................................30
TABLE 4.11: SENSOR BOARD PARTS LIST.........................................................................32
TABLE 4.12: FINAL ASSEMBLY PARTS LIST......................................................................41
TABLE 4.13: SAMPLE OF FINAL INTEGRATED CODE...................................................48
TABLE 5.14: NOMINAL MISSION OPERATIONS ACTIVITIES.......................................52
TABLE 5.15: SAMPLE CHECKLIST......................................................................................53
TABLE 5.16: SAMPLE CHECKLIST......................................................................................54
TABLE 6.17: SAMPLE EEPROM/RADIO DATA COMPARISON......................................55
TABLE 7.18: CANSAT POWER ON.........................................................................................68
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TABLE 7.19: GROUND STATION POWER ON.....................................................................69
TABLE 7.20: HYPERTERMINAL CAPTURE........................................................................69
TABLE 7.21: GROUND STATION POWER ON TROUBLESHOOT..................................70
TABLE 7.22: CANSAT LIGHTS/POWER NOT ON TROUBLESHOOT............................70
TABLE 7.23: CANSAT POWER ON SMOKE AND EXPLOSION CHECKLIST..............71
TABLE 7.24: CANSAT POWER ON RADIO CHECKLIST..................................................71
TABLE 7.25: GROUND STATION POWER ON FAILOVER CHECKLIST......................71
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List of Figures
FIGURE 2.1: SYSTEM BLOCK DIAGRAM ..........................................................................16
FIGURE 3.2: PRIMARY GS PRE-LAUNCH SETUP WITH USB & SERIAL-CAPABLE

LAPTOP.......................................................................................................................................19
FIGURE 3.3: COMPLETE CIRCUIT DIAGRAM OF GROUND STATION......................20
FIGURE 3.4: CANSAT GROUND STATION CIRCUIT BOARD.........................................21
FIGURE 3.5: BENT LM7805.....................................................................................................21
FIGURE 3.6: PORT SETTINGS FOR HYPERTERMINAL.................................................22
FIGURE 3.7: HYPERTERMINAL SETTINGS.......................................................................23
FIGURE 4.8: COMPLETE CIRCUIT DIAGRAM OF CANSAT..........................................24
FIGURE 4.9: POWER BOARD.................................................................................................25
FIGURE 4.10: C&DH BOARD..................................................................................................27
FIGURE 4.11: PIN ASSIGNMENTS AND DECLARATIONS...............................................27
FIGURE 4.12: MAIN PROGRAM INTERFACE....................................................................28
FIGURE 4.13: SAMPLE TEST CODE IN PROGRAM..........................................................28
FIGURE 4.14: RADIO BOARD.................................................................................................30
FIGURE 4.15: SENSOR BOARD..............................................................................................32
FIGURE 4.16: GORE PATTERN FOR CHUTE......................................................................36
FIGURE 4.17: HEM LAYOUT..................................................................................................36
FIGURE 4.18: PANEL JOINT STITCH LAYOUT..................................................................37
FIGURE 4.19: PANEL LAYOUT...............................................................................................37
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FIGURE 4.20: ZIGZAG STITCH AT EACH PANEL JOINT................................................37
FIGURE 4.21: CAP JOINT STITCH LAYOUT.......................................................................38
FIGURE 4.22: EYELET, STITCHES AND KNOTTED LENGTH OF CORD AT

PARACHUTE TIE-OFF POINT................................................................................................39
FIGURE 4.23: FINAL CHUTE WITH APEX SPILL HOLE.................................................39
FIGURE 4.24: ASSEMBLED RIBBON CABLE......................................................................41
FIGURE 4.25: HOLE CONFIGURATION ON BASEPLATE...............................................42
FIGURE 4.26: THREADED RODS, SPACERS AND BOARDS IN PLACE........................42
FIGURE 4.27: DATA FLOW BLOCK DIAGRAM..................................................................44
FIGURE 4.28: HIGH-LEVEL NOMINAL MISSION PSEUDOCODE................................45
FIGURE 5.29: NOMINAL MISSION OPERATIONS FLOW DIAGRAM..........................49
FIGURE 5.30: MISSION TIMELINES.....................................................................................50
FIGURE 6.31: SAMPLE GPS GRAPH.....................................................................................56
FIGURE 6.32: SAMPLE ALTITUDE GRAPH........................................................................59
FIGURE 6.33: SAMPLE TEMPERATURE PROFILE GRAPH...........................................60
FIGURE 6.34: SAMPLE ALTITUDE PROFILE GRAPH.....................................................60
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1 Introduction
1.1 About CANSAT & This Manual
CanSat is a sub-orbital pico-class satellite (<500 grams) that fits inside a regular-size soda can.
This manual will provide step-by-step instructions on how to build a CanSat and CanSat Ground
Station, including electronics, structure, recovery and software. The guidelines for CanSat
requirements were taken from the 2006 CanSat Competition, and specific solutions implemented
are those of the Ryerson CanSat 2006 Team.
Your CanSat will be designed, built, tested and operated for the mission to determine its
maximum altitude, range distance from deployment to landing, the direction of travel using
sensors, and temperature to +/- 1 degree centigrade once every 10 seconds during flight. Mission
operations will consist of pre-launch, launch, flight, recovery and data analysis. Data will be
analyzed and compared to the proposed performance baseline.
The manual is divided into six major components: requirements’ analysis and systems’ design,
ground station assembly, CanSat assembly, CONOPS (Concept of Operations) and flight test,
and final data analysis.
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1.2 Parts List
1.2.1 CanSat Kit Parts List
Quantity
Part Per
CANSAT √
10K ohm 1/4 watt resistor 5% tolerance 5
470 ohm 1/4 watt resistor 5% tolerance 4
2K ohm 1/4 watt resistor 5% tolerance 2
Red 3mm led 2
Green 3mm led 1
Blue 3mm led 1
LM7805 5 volt voltage regulator 2
Capacitor: 22 uF, polarized 1

Capacitor: 100 nF 1
Capacitor: 10 uF, polarized 2
Tc1047a 3
MPXH6115 8 pin SOIC with port 1
HAC LN-95 + Interface Cable + 916 MHz

2
Whip Antenna (Comes in pack)
30 cm of stranded wire 1
Basic Atom Pro 24 Microcontroller 1
10
24LC512 EEPROM 1
Em406 GPS + Interface Cable (Comes in pack) 1
24-pin 0.6" wide DIP socket 1

8-pin 0.6" wide DIP socket 1
STDP ultramini switch 2
6mm push button momentary normally open 1
Right angle db9 female adaptor 2
10 pin ribbon connectors board receptacles 4
10 pin ribbon plug 4
20 cm of 10 conductor ribbon cable 1
Battery clip: BH9VW 1
4-40" screws, 1/4" length 3
9V battery clip (standard, any) 1
9V Battery (Minimum 500mAh) 4
ZIP ties used to hold GPS in place 3 inch length 2

10 mm standoffs 16
30 mm standoffs 4
Standoff nuts 5
Standoff screws 20
4-40 threaded rods 3
4-40 threaded rod nuts 6
70 mm plastic spacer 3
20 mm plastic spacer 6
1/8" thread screws, 1/4" length 2
1/8" Hole Diameter, 22 Ga Washers 16
1/2" 22 Ga Copper Strapping 1 Pack
Parachute ring mount (Cut from G10 Material) 1
Ripstop Nylon (Any Grade) (Comes in 56" -
2 [m]
72" spans)
Standard 1/4" eyelets 1 Pack
1/2'' Solid Braided Nylon Cord [2m] 1
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Table 1.1: Parts List
1.2.2 CD Contents List

1. Compete Basic Atom PRO manual
2. Basic Atom Pro Program
3. Complete Datasheets for all electronic components
4. Sample Programs
5. NMEA/SIRF Protocols
6. Gore Pattern
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1.3 Required Reports
1.3.1 Status Update Reports
Each section of the following document must be completed and signed off by the due dates
announced in class.
Group members and responsibility allocation metric. The TA must initial all changes.
Due: __________________
Phase 1: Payload Assembly
Title Group Member Responsibilities TA Signature
Phase 2: Launch
Title Group Member Responsibilities TA Signature
Table 1.2: Group Responsibility Metric Signoff

# Work Phase Date TA Signature
1 Ground Station complete
2 All CANSAT Boards complete
3 Recovery Manufacture complete
4 Structure Integration complete
5 Software Functional
6 CONOPS Operations/Prep complete
7 Safety Standards & Checklist met
Table 1.3: Work Phase Completion Signoff
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1.3.2 Final Presentation
The presentation will be evaluated on the items listed below. Most of the material can be
prepared before the actual flight. Data presentation and analysis of the mission have to be added
after the competition.
1. Summary of design and any deviations from the standard design listed in the manual
2. Actual CONOPS in comparison with the manual’s CONOPS document
3. Plots of all raw data
4. Comparison of EEPROM data to Radio data
5. Flight data and analysis showing determined altitude, range, and direction
6. Failure analysis if required
7. Comparison to baseline
8. Summary
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2 Systems Development
2.1 Requirements Definition
Mission requirements were obtained from the CANSAT competition guide. Requirements and
corresponding solutions are divided into specific groups that address related requirements.
2.1.1 Structure
1. The outer shell shall have a max diameter of 66.04mm and the CANSAT a max mass of
370 g.
2. The CANSAT shall have a maximum volume of 335 ml.
3. The CANSAT shall have no side protrusions till after separation from the rocket.
Solution: The CANSAT structure consists of an outer shell (aluminum soda can) and inner
support structure made of Printed Circuit Board material and standoff screws.
2.1.2 Sensor Payload & Communications

1. The onboard sensors shall measure maximum altitude, heading and range from
deployment to landing and, a minimum of once every ten seconds, temperature to +/- 1C.
2. Flexible wire antennas may extend from the CANSAT in the direction opposite of the
chute attachment.
3. The CANSAT downlink telemetry shall be activated by an uplink command from ground
control only after the Launch Control Officer (LCO) has given permission to begin
operations.
4. The CANSAT uplink/downlink shall operate in the 902 – 928 MHz band (a band
dedicated to scientific instruments in North America).
Solution: The CANSAT carries three temperature sensors, a GPS receiver and a pressure sensor.
There will also be an uplink/downlink system to send/receive commands/data from the
CANSAT. Software commands will be tailored to include initialization commands at specific
times.
2.1.3 Recovery
1. The chute shall be securely attached to one end of the structure to survive a shock of 20g.
2. The chute shall be sized for a flight time of 3min < t < 7min.
Solution: The CANSAT will have a deployable true-dome parachute attached to one end of the
structure.
2.1.4 Power
1. The CANSAT power shall last a minimum of one hour.
2. Explosives, detonation devices, pyrotechnics, inflammable materials, and hazardous
materials shall not be used, and all materials shall be benign and nonhazardous to
personnel, equipment, and the environment.
15
Solution: Standard 9 Volt onboard batteries will power the CANSAT.
2.2 Performance Baseline

Results from the CanSat flight test will be compared to a control CanSat. The following metric
has been developed to chart the performance baseline of the project:
Measurement Accuracy Control Accuracy

Parameter Acceptable % Error Parameter Acceptable % Error
Altitude 0 - 1% Target Landing (Passive) 0 - 10% of Max. Altitude
Heading 0 - 1% In-Flight Operation Commands 0%
Range 0 - 1%
Temperature 0 - 3%
Table 2.4: Performance Baseline
Interfaces Requirements
Parameter Test Type Parameter Maximums
Uplink/Downlink Fail/Pass Volume 335 ml
Data Processing Fail/Pass Weight 370 grams
Sensor Operation Fail/Pass Durability Fail/Pass
Power Fail/Pass All other Requirements Fail/Pass
Chute Opening Fail/Pass
Table 2.5: System Interface and Overall Product Parameter Measurement Criteria
2.3 Systems Design

2.3.1 System Description
Figure 2.1: System Block Diagram

1. Structure: This system provides structural integrity/support and physical size/placement
constraints for all other systems.
2. Sensors (Payload): This system consists of the sensors and equipment to measure the
required data: GPS, Pressure and Temperature sensors.
16
3. Command and Data Handling System (C&DH): This system provides data protocols, data
conversion/processing and data storage for the CANSAT
4. Communications: This system provides the data uplink (commands) and data downlink
(telemetry), and the ground station is considered a part of the Communications System.
5. Power: This system provides power to all other systems
6. Recovery: This system consists of the parachute for recovery
Sensors Load Data Weight
Energy Power Energy Weight Energy Energy
Commands Load Data Weight Telemetry Commands
Constraint Constraint Constraint Structure Constraint Support
Data Load Commands Weight Communication
Load Support Recovery
Negative
System Positive Dependency
Dependency
Table 2.6: N-Squared Chart of Interrelationships and Dependencies
2.3.2 Key Component Selection
2.3.2.1 Basic Atom 24-pin Microcontroller

This Microcontroller is a slightly more sophisticated version of the Basic Atom. This controller
comes with a programming environment and can be programmed in Basic.
2.3.2.2 EM 406 SiRF III GPS Receiver Module

The GPS module chosen is low power, small and lightweight. It provides the necessary accuracy,
and more importantly, the satellite lock acquiring and re-acquiring times are lower than many
other receivers. The only problem is that due to GPS and US government regulations, the
receiver shuts down at any accelerations higher than 4g. This means that if the CanSat is
launched via rocket, the sensor will shut down and take a few seconds after the CanSat is
deployed to re-acquire lock. Keep this fact in mind when writing code.
2.3.2.3 National LM7805 Voltage Regulator

The LM7805 is a commonly used linear voltage regulator.
2.3.2.4 Microchip 256K I2C CMOS Serial EEPROM

The EEPROM chosen is low power consumption, with a large enough memory to store data for
more than the maximum 10-minute flight time.
2.3.2.5 HAC-LN96 Low Power Radio Data Module

The radio chosen is a low power device that can transmit sufficient data rates to the required
vertical distance. It has a simple digital ASCII-in/ASCII-out interface to make programming and
use more effective and less complex.
17
2.3.2.6 Microchip TC1047 Precision Temperature-to-Voltage Converter
Temperature sensors are cheap, small and consume only very little power. Obtaining accurate
data may be difficult and currently three temperature sensors are used. The sensor may at any
given time be in the shadow created by the parachute or be close to a point directly exposed to
the sun. Variable cloud cover further adds to the uncertainty of the acquired data. Heat flux
through aluminum guarantees large fluctuation between sun exposed side, self shadowed side
and the side not exposed to the sun. It cannot be predicted which part of the CANSAT will
experience maximum temperature during descent. Lastly, the heat generated, notably by the
voltage regulator, further increases uncertainty with acquired results. Given the calibration and
adjustments (depending on reading from GPS and pressure sensor etc.), the three temperature
sensors are adequate to provide a trend for temperature readings.
2.3.2.7 Integrated Silicon Pressure Sensor for Manifold Absolute Pressure

The pressure runs on the 5V circuit, and has the required accuracy. Adding a pressure sensor
helps verify GPS based altitude. Also, using an ideal gas model and altitude based density, the
temperature trend obtained may be verified.
18
3 Ground Station Hardware Assembly and Component
Testing
The three key components of the ground system are capture, analysis, and power. Capture and
Analysis can be handled with any Laptop and HyperTerminal. Connection to the radio can be
handled by serial cable (RS232) or a USB to RS232 serial cable in case the laptop computer is
not equipped with a serial port. Reception is handled by the Ground Station Module (consisting
of the HAC-LN96 radio, mounted to the ground station board). Power should be supplied by the
ground station battery pack.
Power
(Competition
Provided
Link) +
Batteries
Transceiver
USB to DB-9 serial cable Laptop
System
le
Ra
b
Ca
d
io
l
r ia
L
ink
Se
CANSAT
CANSAT
Battery
Charger
Figure 3.2: Primary GS Pre-Launch Setup with USB & Serial-Capable Laptop
In the pre-launch/post-launch configuration, the CANSAT is connected to the Laptop via serial
cable for last-minute programming of the Microcontroller and transfer of EEPROM data. During
the mission, CanSaT’s radio link provides communication with the Transceiver System that in
turn communicates to the Laptop via a USB to DB-9 serial cable.
The Ground Station Module must be the first component assembled and soldered. This is
to practice/validate assembly procedures, and create a link that will be used to test all
subsequent systems/boards aboard the CanSat itself.
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3.1 Hardware Assembly
Part name Description Quantity
1 7805 LM7805 voltage regulator 1
2 R11 470Ω ¼ W resistor 1
3 R12 10kΩ ¼ W resistor 1
5 LED 4 Red LED 1
6 C4 10μF electrolytic capacitor 1
7 SW2 SPDT ultra mini switch 1
8 DB9 DB9 female serial port 1
9 Radio Cable Radio Cable 1
10 HAC LN96 1
11 916 Mhz whip style antenna 1
12 Battery clip Standard 9 volt battery clip 1
13 10mm standoff screws 4
14 30mm standoff screws 4
15 Standoff screw nuts 8
16 Standoff screw screws 4
Table 3.7: Required Parts List
Figure 3.3: Complete Circuit Diagram of Ground Station
20
3.1.1 Electronics
Figure 3.4: CanSat Ground Station Circuit Board
This board will interface directly to the computer and will be used to remotely gather data from
the CanSat.
1. Bend LM7805 to mount on to the surface of the PCB as shown:
Figure 3.5: Bent LM7805

2. Solder LM7805 in place (Hint: Do not overheat Part)
3. Attach LM7805 heat sink to board using one of the small screws and nuts
4. Solder R11, R12 and R13 onto the PCB
5. Solder C4 (Hint: the positive lead the capacitor is marked. Watch out for the polarity of
the capacitor)
6. Trim Leads and Screws
7. Solder SW2
8. Solder LED4 (Hint: the long end of the LED is positive)
9. Solder DB9
10. Solder the radio card connection clip
11. Solder Battery Clip (Hint: Black Wire will go to the square solder pad, i.e. ground)
12. Trim leads
13. Double-Check that all connections have been made
14. Clean any excess flux with flux remover
3.1.2 Structure
1. Mount radio module card onto the circuit board using 10mm standoff screws
2. Using the pre-drilled holes, attach 30mm standoff screws to the circuit board to offset it
from the ground
21
3. (Optional) Insert the entire assembly into a frame, ensuring that the antenna is free of
interference
3.2 Connecting to the Computer & Testing Routine

1. Ensure that the Ground Station is turned OFF. If using USB to Serial cable, double-check
that all connections are secure, and handled in the proper order, as listed below, otherwise
Ground Station Radio Card will overheat (Hint: If this happens, detach all cables and
wait 5 – 15 minutes for the radio card to cool down. DO NOT TRY to regain a
connection when the card is still warm).
2. Start HyperTerminal
a. Using a windows computer, go to Start >> All Programs >> Accessories >>
Communications >> HyperTerminal
b. Create a New Connection using File >> New Connection, and name the
connection with your group’s name. Go through the setup wizard, choosing the
appropriate port (Usually COM 1 or COM 2, depending on your computer)
c. Configure the port using the following port settings:
Figure 3.6: Port Settings for HyperTerminal

d. Disconnect the active connection by pressing the “disconnect” icon. By clicking
on the properties icon, ensure that your system is set to the following parameters:
22
Figure 3.7: HyperTerminal Settings
e. Click OK
3. Plug in the Ground Station connection cable at both ends
4. Turn on the Ground Station Power
a. You should see a small string of characters: “"LN96K02G_V1.1CH?”. If you see
this, your ground station is working correctly.
b. If you do not see the string, turn the Ground Station power off, and back on.
c. If you still do not see the string, go through the Ground Station No Signal
Checklist (Contained in Section 5.4.2)
d. If the checklist does not work, there is something wrong with the circuit board.
Disassemble the structure, and check all connections, solder joints and
components.
23
4 CANSAT Hardware Assembly and Component Testing
Figure 4.8: Complete Circuit Diagram of CanSat
24
4.1 Power Board
The Power Board is a PCB mounted at the base of the CanSat. It consists of the battery-bank,
various resistors and solder-on components. The power board supplies power to all of the
onboard CanSat instruments. Correct assembly of this board is imperative to ensure that all
components work, and that no components burn out. Instructions need to be followed carefully,
and all verification steps should be completed before moving on.
4.1.1 Hardware Assembly

1 7805 LM 7805 voltage regulator 1
2 R8 470 ohm ¼ W resistor 1
3 C1 22 μF electrolytic capacitor 1
4 C2 .1 μF ceramic capacitor 1
5 C3 10 μF electrolytic capacitor 1
6 LED 1 3mm red LED 1
7 SW 1 STDP ultra micro switch 1
8 Battery Case 1
9 10 pin Ribbon connector 1
10 Small screw 4
11 Small nuts 4
Table 4.8: Power Board Required Parts List
Figure 4.9: Power Board

1. Locate all parts verify you have all components listed in the parts list
2. Bend LM7805 to mount on to the surface of the PCB
3. Solder LM7805 in place (Hint: Do not overheat the part)
4. Attach LM7805 heat sink to board using one of the small screws and nuts
5. Trim Leads and screw
6. Solder R8 into place
7. Solder C2
8. Solder LED1 (Hint: The long end of LED is positive. Be careful of polarity)
9. Trim Leads
10. Solder SW1 into place
11. Solder C3 (Hint: The positive end of the Capacitor is indicated. Be careful of polarity)
25
12. Solder C1 (Hint: The positive end of the Capacitor is indicated. Be careful of polarity)
13. Trim leads
14. Solder 10 pin ribbon connector
15. Affix battery Case using 3 screws
16. Solder battery case leads into place (Hint: Be careful of polarity)
17. Trim leads and screws
18. Ensure all connections have been made
19. Clean any excess flux with flux remover.
4.1.2 Testing Routines

1. Place 9V battery into holder
2. Check to make sure led is lit
3. Check voltage from LM 7805 heatsink to pin 10 on the 10-pin connector. This reading
should be 5 V ± .2V
4.2 Command and Data Handling Board

This board is the heart of the CanSat it contains the programmable Microcontroller, storage for
mission data, visual indicators, and a programming interface port.

2 R2 470 Ω ¼ W resistor 1
3 R3 470 Ω ¼ W resistor 1
6 LED2 3mm Red led 1
7 LED3 3mm Green led 1
8 Sw3 6mm momentary switch 1
9 DB9 DB9 female serial port 1
10 Basic Atom Basic atom Pro 24 pin Microcontroller 1
11 EEPROM 24Lc256 EEPROM 1
12 24 pin .6” socket 1
13 8 pin .3” socket 1
Table 4.9: C&DH Board Parts List
26
Figure 4.10: C&DH Board
Figure 4.11: Pin Assignments and Declarations

1. Solder R1
2. Solder R4
3. Solder R5
4. Solder R2
5. Solder R3
6. Trim leads of resistors
7. Solder 24 pin socket into place
8. Solder 8 pin socket into place
9. Solder LED2 (Hint: Polarity)
10. Solder LED3 (Hint: Polarity)
11. Trim leads of LEDs
12. Solder SW3
13. Solder 10 pin Ribbon connector
14. Solder DB9
15. Insert EEPROM into 8 pin socket (Hint: match pin 1 up with the square solder pad)
16. Insert Basic atom pro 24 into 24 pin socket (Hint: match pin 1 up with the square
solder pad)
27
4.2.2 Connecting to the Computer for Programming

1. Ensure that the switch on the battery board is off
2. Using a 10 conductor ribbon cable connect the battery board and the Microcontroller
board together
3. Connect serial cable to computer and Microcontroller board
4. Place 9-volt battery into holder
5. Turn the battery board switch on
6. Install the basicATOMPRO program (provided on the CD) on your computer
7. Start the basicATOMPRO program. You should have a screen that looks like this:
Figure 4.12: Main Program Interface

8. Create a new file, “initial_test.bas”, and place it in an appropriate folder
9. Enter the following code into the program:
Figure 4.13: Sample Test Code in Program

10. Press “Debug”
11. If you get an error message saying, “Atom must be connected for Auto detection”, the
computer is not detecting the Microcontroller. Check all connections, ensure that
28
power is on, and repeat the test till you get a result in the debug window at the bottom
of the page.

Complete, commented code is provided on the accompanying CD.
4.2.3.1 LED Blink Test

Create a file called “ledblink.bas” and enter the following code, ensuring that the pin for the LED
is the correct one in the pin-diagram in section 4.2.
do
high p9
pause 100
low p9
high p10
pause 100
low p10
while 1
If the test is successful, the led will blink. Move on to the EEPROM test. If the led does not
blink, there is a problem with the connections, wiring or code.
4.2.3.2 EEPROM Test

Create a file called “eepromtest.bas” and enter the following code, ensuring that the pin
declarations match the diagram in section 4.2.
CLEAR
EA CON %10100001
DATAin VAR Byte
SDA CON P14
SCL CON P13
B1 VAR Byte
SAMPDAT VAR byte(37)
x VAR byte
SAMPDAT = "abcd456789012345678901234567890123456"
FOR B1 = 0 to 37
high p9
I2COUT SDA, SCL, EA, B1, [SAMPDAT(B1)]
debug[SAMPDAT(B1)]
PAUSE 10
low p9
NEXT
29
pause 50
FOR B1 = 1 to 37
high p10
I2CIN SDA, SCL, EA, B1, [DATAin]
DEBUG ["Location ", DEC B1, " Data Read ", DATAin, 13]
low p10
NEXT
x=x+1
END
If the test is successful, the debug window will show the string from SAMPDAT. If it does not
work, there is a problem with the connections, wiring or code.
4.3 Communications Board

This board carries the radio module, two temperature sensors and the radio module interface with
the Microcontroller.

1 Temp1 TC1047a temperature sensor 1
5 Radio Cable Radio Cable 1
6 Radio HAC LN96 1
7 30 cm of stranded cable 1
10mm standoff screws 4
Standoff screw screws 4
Standoff screw nuts 4
Table 4.10: Radio Board Parts List
Figure 4.14: Radio Board
30
1. (Optional) If the SMA connector on the HAC LN96 isn’t already removed carefully de-
solder it. (Hint: Be very careful in this step. Gently apply heat to the joint and use a solder
sucker to remove the solder)
2. Solder the 30 cm of stranded cable to the HAC LN 96 card use the surrounding holes to
create a loop for strength
3. Solder Temp 1 (Hint: This is a surface mount, and tricky to do. Take your time)
5. Solder R6, R7
6. Trim leads
7. Solder the radio card connection clip
8. Trim leads
10. Mount the radio card using 10mm standoff screws and hardware
12. Clean any excess flux with flux remover
4.3.2 Connecting to the Ground Station for System Operations

From this point on, all hardware testing and verification will be carried out through the radio link
and ground station instead of debug. Debug should still be used when testing custom code and
programs, or when output variables/values are not as expected.
1. Ensure that the switch on the battery board is off
2. Using a 10 conductor ribbon cable connect the battery board to the radio board
3. Using another 10 conductor ribbon cable, connect the radio board to the Microcontroller
board
4. Turn the battery board on, and ensure that all voltages are right
5. Connect the ground station to the computer, as detailed previously, and ensure that the
ground station is working
4.3.3.1 Hello World Test

Create a new file called “helloworld.bas”, and program the Microcontroller (as illustrated in
earlier steps) using the following code:
Txpin CON p12

Rxpin CON p11
LED CON p9
ans var byte
start
high LED
serout Txpin, i9600, ["Hello World.",13,10,"Yes or No? [y/n]",13,10]
serin rxpin,i9600,[str ans\1]
if ans="y" then
31
serout Txpin, i9600, [13,"Yes!",13]
elseif ans="n"
serout Txpin, i9600, [13,"No? Try again",13]
goto start
else
serout txpin, i9600, [13,"Try Again.",13]
goto start
endif
end
If the test is successful, you have a working radio card and ground station. If the radio does not
respond, or the test is unsuccessful, there is a problem with the connections, code or hardware, in
the radio board, or the ground station is set up incorrectly. Confirm (by touching) the radio board
and the ground station radio board that no parts are overheated.
4.4 Sensors Board

This board is the eyes and ears of the CanSat. Containing every type of sensor onboard CanSat, it
provides data to the Microcontroller.

2 Press 1 MPXH 6115 pressure sensor 1
5 GPS Cable GPS Cable 1
6 GPS EM406 GPS module 1
Table 4.11: Sensor Board Parts List
Figure 4.15: Sensor Board

32
2. Solder R9
3. Solder R10
4. Solder GPS Cable in place (Hint: the gray cable will be the furthest away from the square
solder pad)
5. Trim leads
6. Solder Press 1 (Hint: This is a surface mount, and tricky to do. Take your time)

Create a new file called “analogsensors.bas”, and program the Microcontroller (as illustrated in
input1 var word
input2 var word
input3 var word
input4 var word
volt var float
temperature1 var float
pressure var float
adin p0, input1

adin p1, input2
adin p2, input3
adin p3, input4
'temp
volt = tofloat input2/1024.0*5.0
temperature1 = volt*100.0-50.0
'press
volt = tofloat input1 / 1024.0*5.0
pressure = 5.0*(200.0*volt + 19.0*5.0)/(9.0*5.0)
serout p12, i9600 [ "temp sensor 1 ", real temperature1 , 13,"temp sensor 2 ", real
temperature2, 13, " temp sensor 3 ", real temperature3, 13, " pressure sensor " , real pressure ,
13,13]
In the end you should have a radio transmission of all the analog sensor readings.
33
Next create a new file called “GPSTEST.bas” and program the Microcontroller (as illustrated in
blk var byte(7)
dummy var byte (200)
x var byte
blk="$GPGGA,"
serin P7,i4800,[waitstr blk\7, str dummy\200]

serout p12, i9600, [str blk\7, str dummy\200]
You should receive a long string of GPS data. If you are indoors, or have not picked up a GPS
lock, the GPS portion of the data string will not be available. Capturing a GPS lock takes about 2
– 20 minutes in “cold-start” (no previous data available) mode, and you should be in a relatively
clear area outdoors when attempting to get lock. If the Ground Station setup cannot be taken
outside to test for a GPS lock, it will be sufficient to take the CanSat outside, and wait till the red
led on the GPS module starts blinking.
4.5 Recovery System Manufacture

4.5.1 Introduction
The design that is presented here is of a true parachute, having a "shaped" canopy, as opposed to
what is referred to as a parasheet. A parachute with a shaped canopy is more efficient than a
parasheet, since less fabric is required to produce the inflated shape. The canopy shape is that of
a semi-ellipsoid. Significantly less fabric material is required to produce a semi-ellipsoidal shape,
resulting in the advantage of reduced weight and reduced stowed volume. The aspect ratio was
chosen as b/a = 0.707, which provides the most favorable stress distribution in the canopy. Also,
minor inconsistencies in lengths or deployment angles etc. will affect a true dome parachute
much less than they would affect a rectangular parasheet.
This particular parachute is comprised of 12 gores, or panels, individually cut from the fabric
material, and sewn together to form the canopy. The shape of the gores is calculated such that the
assembled canopy would form a semi-ellipsoidal shell with the height to radius ratio being 0.707.
A 1-meter parachute design is presented here.
Alternative parachute shapes and sizes can be created. The equations in the next section may be
used as general guidelines in constructing a parachute. Additionally, the last part of this section
outlines parachute modification methods that may be used on the field to change various
parameters to control drift.
4.5.2 Mathematical Formulae

The most important factor in determining parachute size is impact velocity. Depending on the
height the parachute is deployed from, impact velocity may or may not be equal to terminal
velocity.
Terminal Velocity Vt = (2gM / ρ Cd A)1/2

Where:
34
g is the acceleration due to gravity
M is the mass of the payload (including parachute)
ρ is the density of air (constant at low altitudes)
Cd is the drag coefficient of the chute, which is 1.5 for a true dome parachute
A is the frontal area, may be approximated as the area of the parachute
The exact height at which this terminal velocity occurs may be calculated from the following
equation, assuming that the CANSAT had a velocity equal to zero when it started falling.
Height at terminal velocity Ht = Hmax – (Vt2 / 2g)

Where:
Hmax is the maximum height of the object
If Ht > 0, then terminal velocity has been reached during descent, and Vt = Vi. If the value of Vi is
too high, the parachute area may be adjusted to decrease terminal velocity. If Ht < 0, terminal
velocity will not be reached when the object impacts the ground.
The second consideration for a parachute is Hang Time, or time the parachute is in the air. This
can be a complex equation approximated by using Terminal Velocity, Vt, as the average velocity
for the descent.
Timehang = Hmax/Vt
The last consideration for parachute and recovery is drift. Depending on environmental
conditions, like wind speed and direction, drift can be an undesirable factor. Drift is dependant
upon the Hang Time and the Wind Velocity (Vwind).
Drift = Timehang x Vwind

The Hang Time (and therefore drift) can be decreased by increasing terminal velocity (and
therefore decreasing parachute area) but that also increases the impact velocity.
4.5.3 Chute Construction

1. Print out the Gore Pattern given on the CD, trace out the panel shapes onto the fabric, and
then cut out the twelve panels.
35
Figure 4.16: Gore Pattern for Chute
2. Hem the panels along both curved edges and along bottom edge. The hem is to be made one
centimeter in width, and is formed by folding the edge over twice, as illustrated. It is best to
use straight pins to temporarily fasten the hem. Then baste (hand stitch, using needle and
thread) the hem using stitches with a large pitch (approx. 2 cm.).
Figure 4.17: Hem layout

3. After basting, machine stitch the hem, using a straight stitch. The hem stitch should be
positioned as illustrated. After sewing, the thread from the basting stitch should simply be
pulled out.
4. The next step is to join the panels together. Cut six lengths of seam binding which are long
enough to span the entire arc length of the canopy, with a little extra length that may be
trimmed later. Note that this binding must be continuous from one bottom edge of the canopy
to the opposite bottom edge, a structural necessity.
5. Lay two panels side by side, top sides up. Starting at the base of the panels, line up the edges,
and apply strips of masking tape to (temporarily) hold the panels together along adjacent
edges. Continue until panels are joined entirely along their edges. Flip the panels over, such
that the underside is facing up. Using an electric iron, position and then bond the seam
binding along the two edges of a panel to join them (this bond is not meant to be structural,
36
but simply to fasten the seam binding to the panel so that it may be easily stitched). Then sew
the binding to the panels using a zigzag stitch. Do not be too concerned with the apex (tip) of
the panels, as this can be trimmed later, and is covered by the cap pieces. However, the length
of seam binding between opposite gores should be as shown.
Figure 4.18: Panel Joint Stitch Layout
Figure 4.19: Panel Layout
Figure 4.20: Zigzag stitch at each panel joint
6. Continue this process until all twelve panels have been joined together to form the full
canopy.
7. Cut out two circular pieces of fabric to form the topside and underside apex caps. The
finished diameter of these caps should be about 15% of the basic diameter of the parachute.
Cut the caps to a diameter 2 cm. larger than this, to allow for the hem, which is formed with
a single fold. The hem is important to prevent unraveling and to provide structural
reinforcement to the parachute in the "hoop" direction.
8. Hem the caps in a manner similar to that of the panels. Again, the use of straight pins and
hand basting greatly improves the final result.
9. Sew the hems using a straight stitch.
37
10. Attach the caps to the canopy. Making sure the hem is on the inside of the joint, position the
underside cap and baste stitch into position. Flip the canopy over, and do the same for the
topside cap. Sew both caps in place using a zigzag stitch with the canopy sandwiched in
between, as illustrated in.
Figure 4.21: Cap Joint Stitch Layout
11. After the canopy is complete, you should have a dome-shaped parachute.
12. Cut a small ¼ cm hole at the base of the canopy, at the point where the seam binding joins
two panels. Insert an eyelet into the hole, and using the eyelet gun, clamp the eyelet into
place.
13. Repeat this step for each joint, making sure that the eyelets/holes are placed an equal distance
away from the bottom edge of the canopy.
14. After all eyelets have been clamped securely into place, put four tacking stitches around each
eyelet. This is to ensure that none of the eyelets slip out of place, and that the hole the eyelet
is inserted into does not widen.
15. Cut one 1.5 [m] length of cord from the large braided nylon cord provided to make up the
shroud lines and unwind the smaller lengths from the large bundle.
16. Carefully, using a lighter, melt the end of each cord to prevent fraying. CAUTION: Do this
very carefully, and ensure that you do not light the entire cord on fire. The melted ends
should be slightly blackened, melted lumps of plastic.
17. Insert a cord into one eyelet hole, and tie off a double knot. Leave a “tail” length of cord
(approximately 2 cm) as shown in each knot. Keep knotting till you have a complete knotted
length.
38
Figure 4.22: Eyelet, stitches and knotted length of cord at parachute tie-off point
18. Repeat till you have all twelve cords tied around the parachute canopy
19. At this point you should have a complete canopy. For storage, wind the dangling lengths of
cord to ensure that there is no tangling.
Figure 4.23: Final Chute with Apex Spill Hole
39
4.5.4 Emergency Drift Correction Methods
In case there are high-velocity winds on the day of the test, two very useful, on-the-field
techniques can be used to reduce the parachute’s drift. Both of these involve cutting out fabric in
the parachute in order to spill air.
4.5.5 Method 1: Spill Hole
The spill hole is a hole cut into the cap piece of the parachute. Due to the structural
reinforcement done in the construction of the parachute canopy, this hole does not need to be
hemmed.
1. Fold the parachute along the gore seams till you have a flat triangular shape, with the cap
forming the apex. Cut across the apex just above the connecting zigzag stitch.
2. Unfold the parachute. You should now have a neat spill hole at the top of the parachute.
4.5.6 Method 2: Slits
Slits are additional longitudinal spill holes cut into each gore pattern. Due to the non-reinforced
fabric that these holes will be cut into, each end of the slit needs to be tacked to ensure that the
cut does not become wider/longer.
1. Measure and mark the center point of each gore pattern. Starting at this point, cut a
longitudinal slit in both directions, for a total length of 6 – 7 [cm].
2. Balance this slit with another one on the panel opposite the one with the original slit.
3. Depending on wind velocity, you may choose to cut more slits into the parachute. Always
remember to balance each slit with another one on the opposite panel.
4. Tack each end of the slit with a simple straight stitch.
5. You should now have a complete chute with spill holes
4.6 Integration
4.6.1 Complete Hardware Integration
1 Threaded Rod 3
2 Press 1 Baseplate 1
3 R9 Transceiver Board 1
4 R10 Microcontroller Board 1
5 GPS Cable Sensor Board 1
6 GPS Power Board 1
7 10mm Standoff screws 4
8 Screws, Bolts and Washers for 8 sets
standoffs
9 Copper Strapping 1 batch
40
10 20cm Ribbon Cable 1
11 Ribbon Cable Clips 4 sets
12 Nuts 6
13 7 cm spacers 3
14 2 cm spacers 6
Table 4.12: Final Assembly Parts List
1. Assemble Ribbon cable to connect boards together
a. Remove adhesive backing from top part of clips
b. Line up adhesive part of clip on one end of the cable so that each pin lines up with
a groove on the cable
c. Using a vice, slowly crimp the cable into place (Hint: You should hear the clip
click into place)
d. Place the next clip 6 cm away from the first one, facing the same direction
e. Place the next clip 5 cm away from the previous one, facing the opposite direction
f. Place the last clip at the end of the cable (approx. 7cm away), in the same
direction as the previous clip, and opposite direction to the first two clips
Figure 4.24: Assembled Ribbon Cable
2. Assemble the battery pack and the transceiver

a. Bend six pieces of appropriately cut copper strapping 90 degrees
b. Attach four pieces to the outside-bottom of the power board and transceiver
board, two on each, using the corner holes. Use the washers and standoff screws.
c. Using the four standoffs and the screws already inserted through the copper
strapping, sandwich the battery board and transceiver board together. (Hint: The
battery clip and the radio module should be facing the outside, and ensure that the
notch at the top of each board is aligned)
3. Place the battery pack/transceiver assembly on the baseplate, and using the pre-attached
pieces of copper strapping, affix the assembly to the baseplate through the pre-drilled
four bottom holes. (Hint: The notch should be at the top, use the copper strapping on the
holes that form a rectangle, and ensure that the apex-hole of the triangular arrangement of
holes on the board is on the side of the battery pack)
41
Figure 4.25: Hole Configuration on Baseplate
1. Starting on the battery pack board, connect the ribbon cable to the transceiver board
2. Thread three nuts onto the bases of each of the three threaded rods (Hint: you can use an
adhesive to hold these nuts in place)
3. Insert the two threaded rods through the base-holes of the triangular arrangement of holes
4. Slide the board-assembly and 7cm plastic spacers onto the threaded rod, ensuring that the
spacers are between the copper strapping tabs (above and below)
5. Holding the entire arrangement firmly, slide the Microcontroller board followed by the
2cm plastic spacers onto the threaded rods (Hint: ensure that the notch on the
Microcontroller board lines up with the transceiver board for the ribbon cable to go
through)
6. Connect the next clip on the ribbon cable to the Microcontroller board
7. Slide the sensor board followed by the 2cm plastic spacers onto the threaded rods (Hint:
ensure that the notch on the sensor board lines up with the Microcontroller board for the
ribbon cable to go through)
8. Connect the last clip on the ribbon cable to the sensors board
9. Slide the parachute support (donut-shaped) ring onto the threaded rod, and firmly cap off
the structure by threading two nuts onto the threaded rods
10. Insert battery into battery clip
11. Slide the remaining threaded rod through the last hole, with all appropriate spacers and
nuts (Hint: starting from the bottom is easiest)
Figure 4.26: Threaded rods, spacers and boards in place
42
12. Attach the nine ½ cm spacers, equal distances apart, onto the parachute support ring
using a strong adhesive like crazy glue
13. Parachute tie-ons
a. Carefully align each string on the parachute with its corresponding position on the
support ring
b. Tie each string into place, ensuring that it is wound around the spacers/threaded
rods to prevent slippage (Hint: you can make multiple passes when tying off the
parachute to ensure a firm hold)
c. Ensure that all the strings are, in the end, of equal length (Hint: if you find that
your parachute is tied on unevenly, add additional knots and/or passes at the
connection on the support ring)
d. Finally, ensure that your parachute strings do not become tangled or interfere with
any of the electronics. This is very important.
4. Can Preparation
a. Obtain a beverage/soft-drink can, and ensure it is empty and clean (Hint: a taller
can with the same diameter is recommended as it allows a larger margin of error)
b. Using a can-opener on the top lip of the can, cut out the center portion with the
tab on it (Hint: The edges will be sharp at this point. Be careful.)
c. Using a pair of sharp scissors, cut tabs into the can edge and fold tabs out like a
flower
5. Final Integration (Do not start this step till all pre-launch preparations and checks are
complete)
a. Insert the CanSat assembly into the prepared can, with the parachute-end at the
top (Hint: watch the edges of the can, they are sharp)
b. Fold the tabs over onto the satellite, and secure the entire assembly using tape or
zip-ties (Hint: ensure that the parachute strings are spaced properly and
unencumbered)
43
4.7 Integrated Software Development
4.7.1 Data Flow and Protocols
Data flows in the following manner aboard the CanSat:
Figure 4.27: Data Flow Block Diagram

Essentially, what the Microcontroller needs to do is collect all the data from the sensors, convert
it to the proper formats, collapse it into a 64-Byte data “sentence”. The data sentence must be
placed onboard the EEPROM, and the Microcontroller should decide if it is appropriate to
transmit the data. If yes, then it should also transmit through the radio board to the ground.
Additionally, the Microcontroller should be ready for interrupts to its code (stop operations,
switch operations etc.) from the Ground Station. The data sentence should take the form of
[####, ####, ####, ……………………….., ####], and must, at a minimum, contain:
a. String # (a string counter)
b. Timestamp
c. Latitude
d. Longitude
e. Altitude
f. Temperature Sensor Reading
g. Pressure Sensor Reading
Various GPS readings (see Appendix on NMEA protocols) exist, which can be grabbed from the
GPS module. These indicate heading, velocity etc. and may be included with the data string as
long as the minimum required precision in each reading is maintained.
The program should also have pre-launch and post-recovery software built in – a preliminary
sensors check, GPS lock check, post-recovery EEPROM data dump etc.
44
4.7.2 High-Level Code Structure
Microcontroller program flowchart
Start of Program
Check again in t seconds
Radio Signals
End of Operations Check Radio
signal
Signal indicating there is no Signal
Radio has send signal to start processing.

Once this happens, the program will loop until
the “End of Operations” signal is send
Collect GPS
Write new string Data will be written into the microcontroller cache
Collect
Temp. Data Temp. sensor data from both sensors
will be written without taking the average
Add to String
Collect
Pressure
Add to String and Certain code will be added to the string

write End OF to indicatethe end of a complete entry
String
All data will be added into an array of strings.

Add String in Array This will be basically a set of adjacent
in EEPROM memory locations in the EEPROM
separated by the end of string code.
Send String Current String will be send by radio
End of Program
Figure 4.28: High-Level Nominal Mission Pseudocode
45
4.7.3 Sample Code
46
'++++++++++++++++++++++++++++++++++++++++++++++++++++
'PIN DECLERATIONS, CONSTANTS
PRESS1 CON p0 ' the analog to digital pin dedicated to pressure
TEMP1 CON p1 ' the analog to digital pin dedicated to temp sensor 1
TEMP2 CON p2 ' the analog to digital pin dedicated to temp sensor 2
TEMP3 CON p3 ' temp 3
Txpin CON p12 ' radio transmit pin (data out)

Rxpin CON p11 ' radio receive pin (data in)
GPSpower CON p4' Gps power on off switch
GPSin CON p7 ' Gps data in
GPSout CON p6 ' Gps data out
blueled CON p9 ' The pin to command the blue led
redled CON p10 ' the pin to command the red led
SDA CON P14 ; Serial Data Line

SCL CON P13 ; Serial Clock Line
EA CON %10100001 ; EEPROM initialization block
'++++++++++++++++++++++++++++++++++++++++++++++++++++
'VARIABLES
'----------------------------------------------------
'Interface:
fxnselect var byte(1) 'select which CANSAT function (check,mission etc.)
finaldata var byte(64)
finaldata2 var byte(64)
'Check Systems:
'data gathering
input1 var word ' Analog to digital requires a word (1024 possible settings)
input2 var word
input3 var word
input4 var word
press var float ' voltages , pressures and temperatures are delt as floating point
volt var float ' numbers for accuracy
t1 var float
t2 var float
t3 var float
'Nominal Mission
'EEPROM
addresswrite var long
eepromfill var long
writecyclestr var byte(4) ;will keep track of how many strings have been written
writecycle var long
writecyclecheck var byte(4)
strcntindx var byte(1) 'need to use more vowels
lastaddress var long
temp var long
writecyclestr="0000"
I2CIN SDA, SCL, EA, lastaddress, [str writecyclestr\4]
'GPS
'internal control variables to sort string
position var byte
length var byte
i var byte
j var byte
'actual GPS variables
timestamp var byte (10)
latitude var byte (10)
northsouth var byte (1)
longitude var byte (11)
eastwest var byte (1)
fix var byte
sats var byte(2)
HDOP var byte (3)
47
Table 4.13: Sample of Final Integrated Code
48
5 CONOPS (Concept of Operations)
5.1 Mission Operations Timeline & Task Flow
A mission timeline is nothing more than a plan to execute given tasks at certain times. The plan
must take into account that tasks MUST be completed at the time specified or the mission fails or
is only partly successful. Developing and using a mission timeline is crucial to the success of any
project that involves a schedule that must be executed without fail. Developing a mission
timeline is like developing a project management schedule; you must take into account tasks,
milestones, resources, and costs.
Figure 5.29: Nominal Mission Operations Flow Diagram
There are many ways to organize a mission timeline. It is always a good idea to start with a
visual representation of the plan, and then develop details from it. A timeline can be as simple as
the example below. Other ways to plan a timeline may be to use a spreadsheet and list the
milestones and times. However, a visual timeline will help you understand relative timing of
events.
It also important to plan tasks and events in mission elapsed time, or MET. In the example below,
each milestone is shown in time relative to the launch time. Therefore, the first event, Arrival at
launch site, is L4h, or 4 hours before launch. Events after launch are in L+ times. The reason to
plan in MET is that you may not know when your scheduled launch time is until the moment you
arrive at the launch site, or launch times may change at the last moment. Planning and rehearsing
your activities in MET means that you can quickly and easily adjust your schedule.
49
Main Timeline
uncher
ta
alize da
on w/ la
te
and fin
ration
unc h si
tegrati
ad
d
Tes ti ng
er t o pa
eport
er Paylo
d Sepe
eploy
, verify
ti tude
t la
In
R
Arriv al a
Pay load
d
Chute D
Launch
Launch
Pres ent
Max.Al
Payloa
Payloa
Extr act
Recov
L+15m
L+20m
L+4m
L+3m
L+3.5m
L-0
L-15m
L-4h
L-3h
L-1h
Payload Testing
L-3h Configure Payload: Final Data Extraction and Verification

assembly of Cansat.
Approx. 5-10min L+15m Recover Payload
Run power test: Ensure all

Upload data from EEPROMto
components receive power; battery
ground station so that it can be
is charged and secure. analyzed
Approx: 5-10min
Crosscheck Data and Main Mission Phase
Acquire GPS signal lock, and verify replace data lost in
transmission thereof. transmission
L+3m Payload Seperation
Approx 15-20min Verify temperature sensor
data. Some temp. sensor may Initiate Cansat: Once the permission
Check sensors are functioning and transmitting be closer to warm components has been give, Cansat will start
Time
Time
data as expected than others during flight. It is acquiring and transmitting data.
Approx 10-15min important to know which one will Ideally, this should be accomplished
be accurate at any given time. prior to chute deployment for the best
Check ground station operations : Ensure data profile
codes are properly integrated and ready to
Time
Assemble final data set L+3.5m Chute Deploy
receive data; ensure transmission and which will be presented
acquisition is operational . Main Mission Phase
Approx. 45-60min Cansat will acquire sensor data and
transmit to ground station as well as
save all data onboard.
Approx. 3-7m
L-1h Payload Integration w/ launcher

Present Report L+15m Recover Payload
Figure 5.30: Mission Timelines
5.2 The Flight Team: Responsibilities and Guidelines

List all the team members and define their responsibilities in the development and operation of
the CanSat. For example, the organization might be structured in the following manner (these are
examples only, and your circumstances may require a different structure in order to accomplish
the mission):
5.2.1 Mission Manager (MM).

The mission manager has overall responsibility for the project, and is concerned mainly with
schedule and budget, allocating resources as needed, and directing the other members of the team
to ensure that their respective areas of responsibilities meet the needs of the project.
50
5.2.2 Flight Director (FD).
The FD is responsible for all of the real time activities during flight. The FD directs the activity
of the Flight Operations Team (FOT) during the launch and recovery operations. The FD also
develops the operational timeline and ensures that, along with the Training Officer, everyone on
the FOT meets minimum training requirements and is able to perform their duties during real
time activities.
5.2.3 Payload Manager.

The payload manager is responsible for the design, development, construction, integration, and
testing of the payload and ensures that the payload is able to perform its mission.
5.2.4 Safety Officer.

The safety officer is responsible for the safety of all mission personnel and anyone who may
come into contact with the flight and ground hardware and software. For instance, the safety
officer inspects all electrical and electronic devices to ensure that they meet the standards of
Underwriters Laboratories. The safety officer may also participate in procedure reviews and look
for potentially unsafe activities. In the event of an accident or incident, the safety office conducts
an internal investigation and prepares reports to all interested parties.
5.3 Nominal Mission Operations Guideline

Upon arrival, the team will set up the ground station based on the predetermined layout:
repair/refuel station, command and control station and observation/socialization station. Food
and drink will be strictly restricted to the observation/socialization station. After setting up the
ground station the following activities will be undertaken:
i. Payload will be tested and upon receiving “OK” indications from all systems
onboard CANSAT further operations may proceed
ii. Ground station and communication link will be tested
iii. One hour before indicated launch, the CANSAT and parachute will be packed
into the launch vehicle, and the team members will take up positions.
iv. At launch, the team will be ready for the command from the LCO to begin
transmission
v. Upon command from the LCO, a transmission will be sent to the CANSAT,
waking it from sleep mode
vi. Data will be received at 10-second intervals till the CANSAT touches down
on ground
vii. The recovery lead will collect the CANSAT from its landing site and return to
ground station
viii. EEPROM data will be collected from the CANSAT and input into the Ground
Station Analysis program
ix. The team will compile the Final Presentation into the pre-created template
(updated with data and plots from the Analysis Program, with added
discussion and conclusion)
x. The team will present the design and data
51
Stage Section Activity Description
Preparation of The CANSAT power and sensors will be turned on,
Pre-Launch Ground Station CANSAT and the CANSAT will be fitted into the rocket
No activity will be undertaken during the actual
Launch NA NA launch and flight of the rocket
After the LCO authorizes activation, a signal will be
Activation of sent from the Ground Station to the CANSAT to
Separation Ground Station CANSAT begin data transmission
The CANSAT will be gathering data from sensors
Flight CANSAT Data Gathering and processing the information
The CANSAT will be storing the telemetry data
Flight CANSAT Data Storage onboard
Data The CANSAT will be transmitting the telemetry data
Flight CANSAT Transmission to the Ground Station
The Ground Station will be receiving the data sent
Data Reception by the CANSAT and it will be continuously
Flight Ground Station and Processing analyzed
The CANSAT Recovery System will be operative,

Flight CANSAT Attitude Control controlling the attitude and rate of descent.
After the CANSAT has landed, the recovery team
Recovery Ground Station Recovery will go and collect it from the target landing site
Data will be acquired from the CANSAT and
Data Analysis Ground Station Retrieval compared to the transmitted data
Data will be input into pre-formatted tables (both
during flight operations, and during the data
Data Analysis Ground Station Input analysis stage)
The pre-formatted tables will be analyzed using
MATLAB, and requisite graphs/calculations/results
Data Analysis Ground Station Analysis will be displayed
Table 5.14: Nominal Mission Operations Activities
5.4 Contingency Operations Development

The first focus during contingency operations is the safety of the team members and other
CANSAT participants. The second priority is the success of the mission. Hardly any mission
goes exactly as planned, and considering as many contingency or off nominal situations as
possible, and rehearsing the steps to get back on track, will help the team to react quickly if
something doesn’t go as planned.
In preparing a contingency plan, consider all possibilities, including situations that would be fatal
to mission success, then figure out which ones can be dealt with. Prepare contingency plans, and
rehearse them as much, if not more, than nominal operations. Consider how the team could
recover from a failed ground power supply, or a ground computer that won’t boot properly the
morning of the launch. Consider plans to cover a team member who may become ill the night
before. Consider lost cables, forgotten checklists, bad weather, and delays. Most important,
consider combinations of events that, alone, may be a minor inconvenience, but in the right
sequence could cost the mission.
52
5.5 Checklists
5.5.1 Sample Equipment Checklist
Equipment Quantity Pre-Dep Inn Arr GS Box

Completed CANSAT 1
Complete Radio Receiver Module 1
Serial Programming Cable 2
Serial Radio Cable 2
Power Supply Cable for Radio 1
Power Supply Cable for CANSAT 1
Battery Charger Module 2
Lithium Ion Batteries 4
Charged: Charged: Charged:
Linux Laptop 1
Windows Laptop 1
Laptop Power Cords & Accessories Misc.
Power Bar 2
Software/Programs/Files Location Filename Installed
1. Basic Atom Pro Compiler/Programmer Installed, Both -
2. Main Integrated BASIC Atom Program Desktop, Both ry_cansat_06.ba
s
3. MATLAB Analysis File ““ ry_matlab.m
4. Power Point Presentation ““ ry_ppp.ppt
Table 5.15: Sample Checklist
53
5.5.2 Sample Nominal Mission Operations
Responsibility Activity Time Status Location

FD --> PM, SL, Begin HyperTerminal Capture; Full System Check
SO (All Sensors Operational)
GOTO SYSTEM CHECK CHECKLIST
PM --> SL Integrate CANSAT into Shell
FD Receive OK for Launcher Integration
FD --> PM, SL Integrate CANSAT with Launcher
GOTO OPERATIONAL READINESS CHECKLIST
FD --> SL Software: Nominal Mission Operations
GOTO SOFTWARE OPERATIONS CHECKLIST
Launch
FD Receive “OK” from LCO
FD --> SL “ON” transmitted to CANSAT
SL Transmission received
Touchdown
FD Recovery Team deployed
RT, SO, SM CANSAT Recovered
FD --> SO, SM Begin Data read from EEPROM
SO, SM Read complete, all data saved as .txt
SO MATLAB loaded, analysis results received
Continual Mission Activities Responsibility F/S Location
of
Safety Checks and compliance SO G2
Members' Health and Conditions FD, SO G1
Temperature Control of Ground Station SM G1
Interface with CANSAT Main Control FD G1
Table 5.16: Sample Checklist
A complete selection of checklists is included in the appendices (Section 7)
54
6 Data Analysis (Post-Mission), MATLAB
The raw data from the CanSat sensors needs to be analyzed with MATLAB (Code not provided)
for the following information:
1. Comparison of EEPROM data with Radio data
2. Maximum range from deployment to landing
3. Maximum altitude
4. Temperature trends
5. Pressure trends
6. GPS Altitude
7. Heading and mission position profile
8. Performance Satisfaction Metric
The following are examples of raw data graphs and tables generated by the 2006 Ryerson CanSat
team.
U
SA
BL
E
U
SA
BL
E
U
SA
BL
E
Table 6.17: Sample EEPROM/Radio Data Comparison
55
Figure 6.31: Sample GPS Graph
56
57
58
Figure 6.32: Sample Altitude Graph
59
Figure 6.33: Sample Temperature Profile Graph
Figure 6.34: Sample Altitude Profile Graph
60
Figure 6.5: Sample Pressure Altitude Graph
61
7 Appendices
7.1 Soldering Crash Course
7.1.1 How to make the perfect solder joint.
1. All parts must be clean and free from dirt and grease.
2. Try to secure the work firmly.
3. "Tin" the iron tip with a small amount of solder. Do this immediately, with new tips being
used for the first time.
4. Clean the tip of the hot soldering iron on a damp sponge.
5. Many people then add a tiny amount of fresh solder to the cleansed tip.
6. Heat all parts of the joint with the iron for under a second or so.
7. Continue heating, then apply sufficient solder only, to form an adequate joint.
8. Remove and return the iron safely to its stand.
9. It only takes two or three seconds at most, to solder the average p.c.b. joint.
10. Do not move parts until the solder has cooled.
7.1.2 Troubleshooting Guide

• Solder won't "take" - grease or dirt present - desolder and clean up the parts. Or, material
may not be suitable for soldering with lead/tin solder (eg aluminum).
• Joint is crystalline or grainy-looking - has been moved before being allowed to cool, or
joint was not heated adequately - too small an iron/ too large a joint.
• Solder joint forms a "spike" - probably overheated, burning away the flux.
7.1.3 First Aid

If you are unlucky enough to receive burns, which require treatment, here's what to do :-
1. Immediately cool the affected area with cold running water for several minutes.
2. Remove any rings etc. before swelling starts.
3. Apply a sterile dressing to protect against infection.
4. Do not apply lotions, ointments etc., nor prick any blisters which form later.
5. Seek professional medical advice where necessary.
62
7.2 Complete Checklists used in CanSat 2006 Competition
7.2.1 Overall Mission Checklists
7.2.1.1 CANSAT 05-06 Checklist: Main CANSAT Equipment

Equipment Quantity Pre-Dep Inn Arr GS Box
xi. Completed CANSAT 1
xii. Complete Radio Receiver Module 1
xiii. Serial Programming Cable 2
xiv. Serial Radio Cable 2
xv. Power Supply Cable for Radio 1
xvi. Power Supply Cable for CANSAT 1
xvii. Battery Charger Module 2
xviii. Lithium Ion Batteries 4
Charged: Charged: Charged:
xix. Linux Laptop 1
xx. Windows Laptop 1
xxi. Laptop Power Cords & Accessories Misc.
xxii. Power Bar 2
Software/Programs/Files Location Filename Installed Backup Box

1.Basic Atom Pro Compiler/Programmer Installed, -
Both
2.Main Integrated BASIC Atom Program Desktop, ry_cansat_06
Both .bas
3.MATLAB Analysis File ““ ry_matlab.m
4.Power Point Presentation ““ ry_ppp.ppt
7.2.1.2 CANSAT 05-06 Checklist: Repair Equipment Checklists

Equipment Quantity Packed Box
xxiii. Tool Box 1
xxiv. Dremmel + Cutoff Discs Misc
xxv. Soldering Iron 2
xxvi. Odds and Ends Kits (Components) 2
xxvii. 9V Battery 2
63
Equipment Quantity Packed Box
xxviii. ATOM Dev. Board 1
xxix. Ziggy 1
xxx. Spare GPS module 1
xxxi. Spare GPS cable 1
xxxii. Secondary Parachute 1
xxxiii. Electrical Tape 2
xxxiv. Spare Wire 2
xxxv. Flux Paste 1
xxxvi. Solder 1
xxxvii. Crazy Glue 1
xxxviii. Hardware Box (nuts, bolts, etc.) 1
xxxix. Spare PCBs, Threaded Rod 2
xl. Solder Stand 1
xli. Anti-Static Bags, Ziploc Bags, Electrical Misc.
Component Bags
xlii. Spare Aero Shells 4
xliii. Sewing Box & Supplies 1
xliv. Hair Dryer 1
xlv. Duct Tape 1
64
7.2.1.3 CANSAT 05-06 Checklist: Ground Station Setup Checklist
CANSAT Ground Station

Power & Tent Layout
Supply Mission Command and Control
Link Center (Laptop and Transceiver)
Team Support Area (First Aid,

Recovery
Refreshments, Supplies)
Repair and Refuel Station
Power Flight Lead

Lead Director
Support
Personnel Area
Payload Mission
and other team
Manager Manager members
Critical Safety
Personnel Officer
Area Faculty
Advisor
Backups,
Spare Parts,
Tools
Station Activity Responsible Complete?

General xlvi. Get tables, position Flight Director
General xlvii. Get chairs, provide Flight Director
Repair xlviii. Station clear, all boxes labeled and stored Payload Manager
Repair xlix. Power bars plugged in, Chargers ready Payload Manager
Repair l. Chute & Aeroshell untangled and ready Flight Director
Power Link li. Power provided for C & C Data Manager
Mission C & C lii. Computers Plugged in, booted Data Manager
Mission C & C liii. Configuration 1 set up, working Data Manager
Mission C & C liv. Aux. Sensors out, readings available Flight Director
Support Station lv. Walkie Talkies charged and waiting Recovery Lead
Support Station lvi. First aid kit, water Safety Officer
Support Station lvii. Snacks and accessories Recovery Lead
Support Station lviii. Coolers & Temp. Control Bags Recovery Lead
65
7.2.2 Mission Operations Hardware, Software and Troubleshoot Checklists
7.2.2.1 CanSat Pre-Launch Integration Checklist

System Activity Time Success Conditional
Recovery Chute firmly attached
Recovery Chute lines untangled and coiled
Sensors Temp sensor 1 working
Sensors Press sensor working
Sensors GPS Lock Achieved
Communication Final String Transmission
Communication “On” and other command transitions
Data Read/Write from EEPROM successful
Power Right voltages across all components
(Attached Table)
Power Power/Battery integrated and ready
Structure Aero shell integrated
Sealed:
Structure All components secure and vibration
resistant
Electronics All wires and connections secure
Electronics Visual/Touch inspection of all components
Test Equipment Required Pre- Inn Arrival Ground Box ID

Departure Station
5.Multi Meter
6.Chart of listed location GPS readings
7.Thermometer + Barometer
8.9V Batteries (2)
66
7.2.2.2 CANSAT 05-06 Checklist: Nominal Mission Operations
Responsibility Of Activity Time Status Location
(S/F)
FD --> PM, SL, Begin HyperTerminal Capture; Full System
SO Check (All Sensors Operational)
GOTO SYSTEM CHECK CHECKLIST
PM --> SL Integrate CANSAT into Shell
FD Receive OK for Launcher Integration
FD --> PM, SL Integrate CANSAT with Launcher
GOTO SOFTWARE OPERATIONS
CHECKLIST
Launch
Touchdown
Continual Mission Activities Responsibility of F/S Location

9.Safety Checks and compliance SO G2
10.Members' Health and Conditions FD, SO G1
11.Temperature Control of Ground Station SM G1
12.Interface with CANSAT Main Control FD G1
7.2.2.3 Nominal Mission Operations: Software

Time Activity Commands
I – 45:00 Run Full Systems Check
I – 30:00 Sensors Check
to Take Reference Data
I – 15:00 Run Sensors Check
I Integrate CANSAT with Launcher
T–x Receive OK for Rocket Integration
67
Time Activity Commands
T – 2:00 Begin Nominal Mission Operations
Launch
Touchdown
7.2.3 Mission Operations Failover, Troubleshoot and Sub-Task Checklists

CanSat Power On
1. Verify Charged Battery Pack > 11.2V
2. Set Cansat Power to off
3. Position battery
4. Connect Battery
5. Set Cansat Power to ON
6. Verify Green + Red LED on
7. Verify data Man has OS prompt
8. Instruct DM to choose windows
9. verify DM Menu List
10. Instruct DM Begin HT Capture to filename.txt
Table 7.18: CanSat Power On
68
Ground Station Power On
1. Plug in Computer
2. Verify Battery Charging
3. Power Up Comp
4. Hold for Power/ Login
5. USB connection
6. Hold confirmation
7. Open HT
8. Close Connect Description window
9. File -> open -> Cansat
10. Select available comm port
11. Call select
12. Set rad power off (Down)
13. connect Battery
14. Connect USB, Serial
15. Set rad Pwr on (up) 15B verify Green LED on (2) or GO
GS_Std_TBL_Abt
16. verify channel Selection Up
17. Report Payload manager GS Up
Table 7.19: Ground Station Power On
HyperTerminal Capture
1. Select HT
2. Menu: transfer -> Capture
3. Select Browse -> Desktop
4. Type Designated file name -> Save Radio Text
5. Tell P.M. HT cap ON to filename
6. Wait Confirm Filename
Table 7.20: HyperTerminal Capture
69
Ground Station Power On - Troubleshoot
1. Cansat Grn radio --> Set pwr off
2. Disconnect Serial
3. Disconnect Battery
4. Verify Battery Changed Min IIV
4b. Replace with aux battery
5. Radio Pwr On
6. Verify Green Led's Fail to 10.
7. Hold 10 seconds
8. Radio Pwr off
9. Resume GS_Std_Pwr_On at 14. If fail, resume at 10.
10. Check serial cable, connection ok
11. Check usb cable ok
12. Close H. T
13. Resume GS_Std_Pwr_On at 7. if fail continue 130 Cansat Radio Pwr (off) 13c close HT
14. Test Connection at radio
From outside, pinout reads:
1 white 6. Black - (5-7) Sing Lonn
2 Red Single Connection 7. Orange
3- 8. -
4- 9. -
5 white
7. Resume at GS_Std_Pwr_On Resume at 7 if fail GS_Std_Pwr_ON_Failover
Table 7.21: Ground Station Power On Troubleshoot
CanSat Lights/Power Not On - Troubleshoot
1. Confirm Power on
2. Check lights
3. Test wires, battery
-> lights blink
-> HOLD LAUNCH UNTIL REPAIRED!
->no lights
4. check good voltage (5V +_ 0.1 , 7V +0.05 - 0.5) at LM317 tab
OK: Check MC, GPS +5V connect good
Visual ---> bad? Continue
Bad:
-> Adjust Resistors
No VOLT:
-> INDEF HOLD --> Replace LM317
-> No Voltage
-> Abort Mission
Voltage:
-> Restart Cansat Power on checklist
Table 7.22: CanSat Lights/Power Not On Troubleshoot
70
Cansat Power On, Smoke and Explosion - Troubleshoot
1. Halt Count, Power to OFF
2. Inspect
-> LM317
-> MC
-> CAP On VR Board
-> Res on VR, Under MC
-> Trans, Res on GPS
-> EEPROM
3. Replace all damaged components
-> RREP
4a. SCRUB Mission
-> Repaired
4b. Restart
Table 7.23: CanSat Power On Smoke and Explosion Checklist
Cansat Power On – Radio Troubleshoot
1. DM Reports No Menu
1b. No Ins. DM to press W
2. Check Voltage between Pins 1,2 from ANT side on radio on Cansat 7.0+0.05 –0.5 V
3. Reset Cansat
4. DM Press W
5. DM Reports No Menu
6. Verify Radio card connector secure
7. DM Test Radio Heat
IF HOT
8. Indef Hold, Cool Radio -> Perform Failover, move to van w/ high AC no comp change
Table 7.24: CanSat Power On Radio Checklist
Ground Station Power On Failover
1. Report Payload Primary Computer Failure
2. Cansat Power Radio --> Off
3. disconnect Serial cable
4. Disconnect USB cable
5. Start GS_Std_PWR_ON_at 5 w/ Secondary Computer.
Table 7.25: Ground Station Power On Failover Checklist
71

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CanSat Construction

Documentation and Guide

Under the guidance of:

1.1 ABOUT CANSAT & THIS MANUAL..............................................................................................9

2.1 REQUIREMENTS DEFINITION.........................................................................................................15

3 GROUND STATION HARDWARE ASSEMBLY AND COMPONENT TESTING..........19

3.1 HARDWARE ASSEMBLY.................................................................................................................20

4 CANSAT HARDWARE ASSEMBLY AND COMPONENT TESTING..............................24

4.1 POWER BOARD...........................................................................................................................25

5 CONOPS (CONCEPT OF OPERATIONS)...........................................................................49

5.1 MISSION OPERATIONS TIMELINE & TASK FLOW...........................................................................49

6 DATA ANALYSIS (POST-MISSION), MATLAB..................................................................55

7.1 SOLDERING CRASH COURSE.........................................................................................................62

TABLE 1.1: PARTS LIST...........................................................................................................12

TABLE 1.2: GROUP RESPONSIBILITY METRIC SIGNOFF.............................................13

TABLE 1.3: WORK PHASE COMPLETION SIGNOFF.......................................................13

TABLE 2.4: PERFORMANCE BASELINE.............................................................................16

TABLE 2.5: SYSTEM INTERFACE AND OVERALL PRODUCT PARAMETER

TABLE 2.6: N-SQUARED CHART OF INTERRELATIONSHIPS AND DEPENDENCIES

TABLE 3.7: REQUIRED PARTS LIST.....................................................................................20

TABLE 4.8: POWER BOARD REQUIRED PARTS LIST.....................................................25

TABLE 4.9: C&DH BOARD PARTS LIST..............................................................................26

TABLE 4.10: RADIO BOARD PARTS LIST...........................................................................30

TABLE 4.11: SENSOR BOARD PARTS LIST.........................................................................32

TABLE 4.12: FINAL ASSEMBLY PARTS LIST......................................................................41

TABLE 4.13: SAMPLE OF FINAL INTEGRATED CODE...................................................48

TABLE 5.14: NOMINAL MISSION OPERATIONS ACTIVITIES.......................................52

TABLE 5.15: SAMPLE CHECKLIST......................................................................................53

TABLE 5.16: SAMPLE CHECKLIST......................................................................................54

TABLE 6.17: SAMPLE EEPROM/RADIO DATA COMPARISON......................................55

TABLE 7.18: CANSAT POWER ON.........................................................................................68

TABLE 7.20: HYPERTERMINAL CAPTURE........................................................................69

TABLE 7.21: GROUND STATION POWER ON TROUBLESHOOT..................................70

TABLE 7.22: CANSAT LIGHTS/POWER NOT ON TROUBLESHOOT............................70

TABLE 7.23: CANSAT POWER ON SMOKE AND EXPLOSION CHECKLIST..............71

TABLE 7.24: CANSAT POWER ON RADIO CHECKLIST..................................................71

TABLE 7.25: GROUND STATION POWER ON FAILOVER CHECKLIST......................71

FIGURE 2.1: SYSTEM BLOCK DIAGRAM ..........................................................................16

FIGURE 3.2: PRIMARY GS PRE-LAUNCH SETUP WITH USB & SERIAL-CAPABLE

FIGURE 3.3: COMPLETE CIRCUIT DIAGRAM OF GROUND STATION......................20

FIGURE 3.4: CANSAT GROUND STATION CIRCUIT BOARD.........................................21

FIGURE 3.5: BENT LM7805.....................................................................................................21

FIGURE 3.6: PORT SETTINGS FOR HYPERTERMINAL.................................................22

FIGURE 3.7: HYPERTERMINAL SETTINGS.......................................................................23

FIGURE 4.8: COMPLETE CIRCUIT DIAGRAM OF CANSAT..........................................24

FIGURE 4.9: POWER BOARD.................................................................................................25

FIGURE 4.10: C&DH BOARD..................................................................................................27

FIGURE 4.11: PIN ASSIGNMENTS AND DECLARATIONS...............................................27

FIGURE 4.12: MAIN PROGRAM INTERFACE....................................................................28

FIGURE 4.13: SAMPLE TEST CODE IN PROGRAM..........................................................28

FIGURE 4.14: RADIO BOARD.................................................................................................30

FIGURE 4.15: SENSOR BOARD..............................................................................................32

FIGURE 4.16: GORE PATTERN FOR CHUTE......................................................................36

FIGURE 4.17: HEM LAYOUT..................................................................................................36

FIGURE 4.18: PANEL JOINT STITCH LAYOUT..................................................................37

FIGURE 4.19: PANEL LAYOUT...............................................................................................37

FIGURE 4.21: CAP JOINT STITCH LAYOUT.......................................................................38

FIGURE 4.22: EYELET, STITCHES AND KNOTTED LENGTH OF CORD AT

FIGURE 4.23: FINAL CHUTE WITH APEX SPILL HOLE.................................................39

FIGURE 4.24: ASSEMBLED RIBBON CABLE......................................................................41

FIGURE 4.25: HOLE CONFIGURATION ON BASEPLATE...............................................42

FIGURE 4.26: THREADED RODS, SPACERS AND BOARDS IN PLACE........................42

FIGURE 4.27: DATA FLOW BLOCK DIAGRAM..................................................................44