Drone control: Difference between revisions

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[[Drone control hardware]]  
[[Drone control hardware]]  
[[File:schematic_rev0.png | 200px]]
<!-- [[File:schematic_rev0.png | 150px]] -->
 


== Drone software ==
== Drone software ==
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[[Drone firmware]]
[[Drone firmware]]


== Propeller - motor performance ==
== Magnetometer calibration ==


[[Drone motor performance]]
Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer.


== Motor test app ==
[[Drone compass calibration]]


A motor test GUI is available (in the motortest_gui directory) - it will talk to the motortest firmware - and there is no need for the prop-shield for this application.
== ESC calibration ==


[[File:motortest_gui.png | 600px]]
The drone control uses ESC pulse width from 1 to 2 ms, and all ESCs should be calibrated to use this range.


Motor test GUI. There is the possibility to log time performance (in the log tab), to test run an ESC (or up to 6 ESCs) in the data tab.
[[ESC calibration]]


The hardware configuration and pin-out are described in the hardware section above.
== Propeller - motor performance ==


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


Once the drone hardware (mass, configuration, motor and propeller) is known, then it can be simulated in Matlab simulink.
== Motor test app ==
The script in the doc/matlab directory has scrips for the simulation and estimating a linear transfer function in an operating point and calculate the needed controller parameters (roll, pitch, yaw - velocity and position as well as height control).
 
Further controllers for lateral velocity are added too, but these last controllers are not included in the drone firmware.
 
[[File:drone_ctrl_simulink.png | 800px]]


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

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