DEVELOPMENT OF DATA LOGGER FOR MAV USING FREE RTOS ON PIC32

In this paper integration of Micro Electro-Mechanical Systems (MEMS) based Inertial Measurement Unit (IMU), Magnetometer, Global Positioning System (GPS) and Pressure sensors for data logging using PIC32 is proposed. The flight data parameters such as acceleration, altitude, pressure, location and temperature, pitch, roll, yaw are proposed to be recorded on the data logger. PIC32 micro-controller is used as a main control unit for sensor integration with MPLAB X IDE. Interface of all sensor with controller using FreeRTOS gives multitasking capabilities. FreeRTOS is a real time operating system that is used for implementing the application layer. The read time for different sensors and execution time of the Nonlinear Complementary Filter (NCF) estimator in Data logger are recorded. The data log time using Free RTOS for Barometric pressure (BMP) sensor is in the order of 7.96ms, for IMU in of the order of 0.49ms, for Magnetometer in of the order of 0.26ms and for GPS in the order of 0.18ms.