Drone control

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.

Build on a hand-wired PCB as a prototype

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 [[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]]
-Sim mechanics simulated hex-drone hoovering.