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| == Hardware == | | == Hardware == |
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| == Drone software ==
| | Build on a hand-wired PCB as a prototype |
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| There are two versions of the drone firmware, one for the motor test (mostly performance of a single motor) without the need of the prop-sheld and a full version to be used on the flying drone.
| | [[Drone control hardware]] |
| | <!-- [[File:schematic_rev0.png | 150px]] --> |
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| To get the source code - see section "software and files" below.
| | == Drone software == |
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| === Motor test firmware ===
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| The motor test firmware is in the "motortest" directory.
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| To compile the source for a Teensy 3.5 or 3.6 the Teensiduino needs to be installed first.
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| Install Teensiduino, see https://www.pjrc.com/teensy/td_download.html .
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| Start with installing the most recent supported version of Arduino, then overlay this by installing the Teensiduino.
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| Once installed the directory needs to be prepared for compilation.
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| ====Linux====
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| make shortcut links to libraries and compiler. The shourtcut described below assumes you have installed arduino version 1.8.9 (and Teensiduino) in your home directory, change as appropriate:
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| cd drone_ctrl/motortest
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| ln -s ~/arduino-1.8.9/hardware/teensy/avr/libraries
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| ln -s ~/arduino-1.8.9/hardware/teensy/avr/cores/teensy3
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| ln -s ~/arduino-1.8.9/hardware/tools/
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| make
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| make upload
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| === Drone firmware ===
| | [[Drone firmware]] |
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| The drone flight controller (base) firmware is in the "drone_ctrl" directory.
| | == Magnetometer calibration == |
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| To compile the source for a Teensy 3.5 or 3.6 the Teensiduino needs to be installed first.
| | Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer. |
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| Install Teensiduino, see https://www.pjrc.com/teensy/td_download.html .
| | [[Drone compass calibration]] |
| Start with installing the most recent supported version of Arduino, then overlay this by installing the Teensiduino.
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| Once installed the directory needs to be prepared for compilation.
| | == ESC calibration == |
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| ====Linux====
| | The drone control uses ESC pulse width from 1 to 2 ms, and all ESCs should be calibrated to use this range. |
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| make shortcut links to libraries and compiler. The shourtcut described below assumes you have installed arduino version 1.8.9 (and Teensiduino) in your home directory, change as appropriate:
| | [[ESC calibration]] |
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| cd drone_ctrl/drone_ctrl
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| ln -s ~/arduino-1.8.9/hardware/teensy/avr/libraries
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| ln -s ~/arduino-1.8.9/hardware/teensy/avr/cores/teensy3
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| ln -s ~/arduino-1.8.9/hardware/tools/
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| make
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| make upload
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| == Propeller - motor performance == | | == Propeller - motor performance == |
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| Measured with the "motortest" firmware and the python app below.
| | [[Drone motor performance]] |
| The used motor is the 3508-700KV Turnigy Multistar 14 Pole Brushless and a 14x5.5 carbon propeller.
| | [[File:3508-700-14x5.5-11v.png | 150px]] |
| The ESC is a Hobby-wing x-rotor 40A controller.
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| === Time responce ===
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| [[File:3508-700-14x5.5-11v.png | 600px]] | |
| [[File:3508-700-14x5.5-15v.png | 600px]] | |
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| With 11 V supply (left) and 15V (right).
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| From 1.1ms to the ESC (idle) to 1.9ms almost full throttle. The ESC update frequency is 400 Hz.
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| === Static response 3508-700 ===
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| Transfer measurement with different propellers.
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| The Hobby Wing controller is calibrated to 1ms=off, 2ms=full power.
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| The propellers
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| * 8"x 3.8 APC composite propeller
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| * 9"x 4.5 APC composite propeller
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| * 13"x 4.5 carbon fiber
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| * 14"x 5.5 carbon fiber
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| * 18"x 5.5 carbon fiber Quanum
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| [[File:trust-per-power-3508-700.png | 600px]]
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| [[File:rpm-per-power-3508-700.png | 600px]]
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| (left) trust delivered for each propeller size as a function of motor input power.
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| (right) RPM as a function of input power.
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| === Static gain 3508-700 ===
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| For the same data as above, bot now related to the ESC input pulse width.
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| The ESC has been calibrated to 1ms is zero power, 2ms is maximum power.
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| All data has been scaler to 11V, as the curves scale almost 1:1 with the input voltage.
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| [[File:trust-TF-3508-700.png | 600px]]
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| [[File:transfer_gain_N-per-ms.png | 600px]]
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| (Left) Trust curve as a function of ESC pulse width.
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| (Right) Static transfer gain as a function of ESC pulse width.
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| The transfer gain is fairly constant (within a factor 2) in the useful trust area.
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| === Software and files ===
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| The files for these results is in our subversion repository:
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| Install subversion - https://subversion.apache.org/packages.html - and from a command line
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| svn checkout svn://repos.gbar.dtu.dk/jcan/mobotware/drone_ctrl
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| cd drone_ctrl/trunk/motortest_gui
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| ls
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| - motortest_gui.py is the application below.
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| - plot_rpm_sensor.m is the Matlab script to make the plots above.
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| ... other support and data files.
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| cd drone_ctrl/trunk/doc/Matlab
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| - Simulink version of hexacopter drone
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| == Motor test app == | | == Motor test app == |
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| 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.
| | [[Drone motor test app]] |
| | | [[File:motortest_gui.png | 120px]] |
| [[File:motortest_gui.png | 600px]]
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| 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.
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| The hardware configuration and pin-out are described in the hardware section above.
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| == MATLAB simulation ==
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| Once the drone hardware (mass, configuration, motor and propeller) is known, then it can be simulated in Matlab simulink.
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| 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).
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| Further controllers for lateral velocity are added too, but these last controllers are not included in the drone firmware.
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| [[File:drone_ctrl_simulink.png | 800px]] | |
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| Simulink model of hexacopter.
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| [[File:drone_ctrl_sim_hex.png | 600px]]
| | ==Matlab simulation== |
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| Sim mechanics simulated hex-drone hoovering.
| | [[Drone MATLAB simulation]] |
| | [[File:drone_ctrl_sim_hex.png | 120px]] |
