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.  
[[File:3508-700-14x5.5-11v.png | 200px]]


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


[[Drone motor test app]]
== ESC calibration ==


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


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]]
== Propeller - motor performance ==


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


The hardware configuration and pin-out are described in the hardware section above.
== Motor test app ==


== MATLAB simulation ==
[[Drone motor test app]]
[[File:motortest_gui.png | 120px]]


Once the drone hardware (mass, configuration, motor and propeller) is known, then it can be simulated in Matlab simulink.
==Matlab simulation==
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.
[[Drone MATLAB simulation]]
 
[[File:drone_ctrl_sim_hex.png | 120px]]
[[File:drone_ctrl_simulink.png | 800px]]
 
Simulink model of hexacopter.
 
[[File:drone_ctrl_sim_hex.png | 600px]]
 
Sim mechanics simulated hex-drone hoovering.

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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