Drone control: Difference between revisions

From Rsewiki
No edit summary
 
(8 intermediate revisions by the same user not shown)
Line 10: Line 10:


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


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


[[Drone firmware]]
[[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 ==
== Propeller - motor performance ==


[[Drone motor performance]]
[[Drone motor performance]]
[[File:3508-700-14x5.5-11v.png | 200px]]
[[File:3508-700-14x5.5-11v.png | 150px]]


== Motor test app ==
== Motor test app ==


[[Drone motor test app]]
[[Drone motor test app]]
[[File:motortest_gui.png | 200px]]
[[File:motortest_gui.png | 120px]]


==Matlab simulation==
==Matlab simulation==


[[Drone MATLAB simulation]]
[[Drone MATLAB simulation]]
[[File:drone_ctrl_sim_hex.png | 600px]]
[[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