Drone control

From Rsewiki
(Difference between revisions)
Jump to: navigation, search
(→‎Hardware)
 
(10 intermediate revisions by one 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 ==
Line 17: Line 16:
 
[[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.

Contents

[edit] Hardware

Build on a hand-wired PCB as a prototype

Drone control hardware

[edit] Drone software

Drone firmware

[edit] Magnetometer calibration

Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer.

Drone compass calibration

[edit] 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

[edit] Propeller - motor performance

Drone motor performance 3508-700-14x5.5-11v.png

[edit] Motor test app

Drone motor test app Motortest gui.png

[edit] Matlab simulation

Drone MATLAB simulation Drone ctrl sim hex.png

Retrieved from "http://rsewiki.elektro.dtu.dk/index.php?title=Drone_control&oldid=5125"
Personal tools
Namespaces

Variants
Actions
Navigation
Toolbox