Project at a glance
Goal: Design a drone‑suspended payload that autonomously detects obstacles, senses water, measures temperature spikes, and deploys a sample on‑command.
📽️ Flight‑Test Video
The payload executes a full autonomous sequence: obstacle avoid → water contact detection → servo release → audible confirmation → safety ascent.
⚡ Mission Snapshot
- MPU‑9250 IMU — 9‑DOF orientation & tilt.
- HC‑SR04 Ultrasonic — 2 cm‑400 cm obstacle range‑finding.
- Water Probe — triggers sub‑surface sampling.
- NTC Thermistor — detects sudden heat rise.
- SG90 Servo — actuates sample release arm.
- 16×2 I²C LCD — live telemetry & debug output.
All hardware powered by isolated 5 V logic rail + dual 9 V packs for actuators.
🧠 Core Firmware Modules
| Sketch | Role |
|---|---|
| master_payload.ino | Central scheduler & state machine. |
| TiltAngle.ino | LCD tilt‑angle read‑out. |
| Orientation.ino | Complementary‑filter orientation. |
| task3-6.ino | Obstacle, water & thermal logic. |