Drone control: Difference between revisions

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== Hardware ==
== Hardware ==
Build on a hand-wired PCB as a prototype
[[Drone control hardware]]
<!-- [[File:schematic_rev0.png | 150px]] -->


== Drone software ==
== Drone software ==


== Motor test app ==
[[Drone firmware]]
 
== Magnetometer calibration ==
 
Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer.
 
[[Drone compass calibration]]
 
== ESC calibration ==
 
The drone control uses ESC pulse width from 1 to 2 ms, and all ESCs should be calibrated to use this range.
 
[[ESC calibration]]


[[File:motortest_gui.png | 600px]]
== Propeller - motor performance ==


== MATLAB simulation ==
[[Drone motor performance]]
[[File:3508-700-14x5.5-11v.png | 150px]]


[[File:drone_ctrl_simulink.png | 800px]]
== Motor test app ==


Simulink model of hexacopter.
[[Drone motor test app]]
[[File:motortest_gui.png | 120px]]


[[File:drone_ctrl_sim_hex.png | 600px]]
==Matlab simulation==


Sim mechanics simulated hex-drone hoovering.
[[Drone MATLAB simulation]]
[[File:drone_ctrl_sim_hex.png | 120px]]

Latest revision as of 09:49, 21 December 2020

Drone project

This project is intended to be a rather simple core drone stabilizer application based on Teensy and the prop shield.

Intended to be expanded with an outer control loop with a non-realtime sensor, e.g. GNSS, camera or laser scanner.

Hardware

Build on a hand-wired PCB as a prototype

Drone control hardware

Drone software

Drone firmware

Magnetometer calibration

Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer.

Drone compass calibration

ESC calibration

The drone control uses ESC pulse width from 1 to 2 ms, and all ESCs should be calibrated to use this range.

ESC calibration

Propeller - motor performance

Drone motor performance

Motor test app

Drone motor test app

Matlab simulation

Drone MATLAB simulation