Drone control
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This project is intended to be a rather simple core drone stabilizer application based on Teensy and the prop shield. | 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 == | == Hardware == | ||
| + | |||
| + | Build on a hand-wired PCB as a prototype | ||
| + | |||
| + | [[Drone control hardware]] | ||
| + | <!-- [[File:schematic_rev0.png | 150px]] --> | ||
== Drone software == | == Drone software == | ||
| − | + | [[Drone firmware]] | |
| − | + | == Magnetometer calibration == | |
| − | + | Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer. | |
| − | [[File: | + | [[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]] | ||
| + | [[File:3508-700-14x5.5-11v.png | 150px]] | ||
| + | |||
| + | == Motor test app == | ||
| − | + | [[Drone motor test app]] | |
| + | [[File:motortest_gui.png | 120px]] | ||
| − | + | ==Matlab simulation== | |
| − | + | [[Drone MATLAB simulation]] | |
| + | [[File:drone_ctrl_sim_hex.png | 120px]] | ||
Latest revision as of 10:49, 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
[edit] Drone software
[edit] Magnetometer calibration
Calibration is used using a calibration version of firmware and a calibration app from Prop Shield manufacturer.
[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.
