Drone control: Difference between revisions

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

Revision as of 08:19, 10 October 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

Propeller - motor performance

Drone motor performance

Motor test app

Drone motor test app

Matlab simulation

Drone MATLAB simulation