We constructed a pair of gloves attached with a BNO055 absolute position sensor. This position information is then accessed over I2C bus interface by our Atmega 32U4 microcontroller. Appropriate signal is generated from the processed information and sent over the transmitter to the quadcopter. This arrangement allows a user to fly the quadcopter using only their hands. The projects code was written using AVR-C, debugging was done over USART.
The first struggle our team ran into was not allowing the sensors enough time to process all data. The second difficulty was our exponential control function model. The calculation would have taken too long, so we constructed an array look up table to easily grab the tabulated values. We then ran into the problem that this array was too large for our 2.5 kB RAM. We had to save this table in our program memory and then access it during run-time.
Rev 1 The initial design was two PCB's hot glued on the back of a bicycle glove with the chip and wires freely exposed. This worked well for initial prototyping and was a very simple solution to the the system up and running in the 36 hour window.
Rev 2 After the initial 36 hour build we decided to redevelop our system into a more aesthetically pleasing design along with a finalized stabilization mapping. Below are some images of the final product. A central micro-controller is to be warn around the neck which houses the battery (replaceable 9V.) This unit reads in data from the hand motion controllers and outputs a PPM signal to be forwarded to a transmitter. Each of the hand modules contain a BNO055 absolute position sensor along with a silicone wrist band to snug attachment to the back of the hand. The slight curvature easily molds to the users hand and creates a comfortable fit. We have found this design to create a feeling of better control as the motion chip is more in line with the users hand. All three modules have a white LED light to indicate they are powered up and functional.