Drone control: Difference between revisions
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This project is intended to be a rather simple core drone stabilizer application based on Teensy and the prop shield. | 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 == | == Hardware == | ||
Build on a hand-wired PCB as a prototype | |||
[[Drone control hardware]] | |||
<!-- [[File:schematic_rev0.png | 150px]] --> | |||
== Drone software == | == 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]] | |||
[[File:3508-700-14x5.5-11v.png | 150px]] | |||
== Motor test app == | == Motor test app == | ||
[[Drone motor test app]] | |||
[[File:motortest_gui.png | 120px]] | |||
==Matlab simulation== | |||
[[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 software
Magnetometer calibration
Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer.
ESC calibration
The drone control uses ESC pulse width from 1 to 2 ms, and all ESCs should be calibrated to use this range.
