Health System – Advanced Sensor Monitoring Platform for Aircraft

The Health System by Flying Robotic Solutions is an integrated hardware and software platform designed for real-time monitoring of multiple critical parameters in aircraft. It facilitates the collection, processing, and communication of sensor data relevant to the operational health of an aerial vehicle.

Key Features

• Comprehensive Sensor Support: The system reads and processes data from a wide array of sensors, including:

  • RPM sensors (Eagle Tree OPT-RPM)

  • Fuel flow sensors (BIOTECH)

  • Liquid level sensors (ECMS, analog and PWM)

  • Temperature sensors (Thermocouple, infrared GY-906, and Lilypad contact sensors)

  • Current and voltage sensors (ACS723)

  • Flexion sensors (Qwiic Flex Glove)

• Modular Hardware Design:

  • A main board based on the ATmega2560 microcontroller handles power distribution and sensor interfacing.

  • Multiple auxiliary boards extend capabilities for specific sensor types (temperature, current, voltage, flex sensors), all interfacing via I2C buses.

• ROS Integration:

  • The system communicates sensor data over USB to a PC using a ROS driver package (health_system), enabling seamless integration into robotic and automation workflows.

  • Provides a standardized message format (HealthSystemData.msg) with real-time sensor readings.

• Flexible Software Configuration:

  • Frequency of data transmission is adjustable (default 1 Hz, up to 20 Hz).

  • Services are provided to enable or disable readings from specific sensors.

  • Robust serial protocol supports message sequencing and error detection.

Software Architecture

The ROS package includes:

• Arduino firmware and libraries.

• A C++ ROS node (health_system_node) handling communication and data publication.

• A serial communication library shared between Arduino and ROS to ensure consistency.

• Support for additional sensor libraries such as MCP342x and Adafruit ADS1X15 for analog-to-digital conversion.

Hardware Summary

• Main Board: Connects to all sensor types and a PC over USB.

• Auxiliary Boards:

  • Designed for MCP3428-based I2C communication.

  • Configurable for either temperature (Lilypad) or current (ACS723) sensors.

  • Dedicated board for flexion sensors operating at 3.3V I2C.

  • Voltage input protection ensures safe measurement up to 30V.

Deployment

The Health System is operational as soon as it is powered. It is compatible with:

• Ubuntu 16.04 + ROS Kinetic

• Ubuntu 18.04 + ROS Melodic

• Ubuntu 20.04 + ROS Noetic

To operate, simply launch a ROS core and start the driver node with appropriate parameters for the serial connection.