Questions tagged [quadcopter]
A quadcopter, also known as a quadrotor, is a multirotor helicopter that is lifted and propelled by four rotors.
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feedback linearization controller for a quadrotor
I am trying to develop a controller for a quadrotor using dynamic feedback linearization technique, but I am not sure I am doing thigs correctly. I know that for designing such controller I have to ...
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Why Drone flips over while taking off?
Noob here. Response is very much appreciated.
I have built a drone based on apm 2.8. however, it doesn't lifting up and flip over when it start to fly. Can you please guide what could be the possible ...
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Serial Communication between RaspberryPi and CC3D?
I have built a quadcopter with a CC3D FC, using LibrePilot for configuration. Everything is smooth with the tx/rx I used to command the quad with but now I would like to effectively use the RPi as a ...
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24 views
Autonomous quadcopter: How to transform setpoint into motor inputs?
I would like to know how to transform a setpoint to inputs for the motors of a quadcopter. I would like a function like that:
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1answer
33 views
Drone Payload Potential
I am new to the art of building quadcopters and am looking to build a camera platform with a payload of 250g. With the following setup would that be possible or could someone point me in the direction ...
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1answer
59 views
What is the purpose of these grey balls on the drone?
Are these used for position tracking? Are there any papers
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27 views
why we need both vel and acc contribution for actual position?
I was trying to understand multiwii quadcopter code. I started with understanding GPS code. Here is a section of the code where I have doubt. Why actual position = pos + velocity contribution + ...
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How to estimate yaw angle from magnetometer and gyroscope?
I'm using the MPU9250, it measures acceleration, magnetometer, gyro, etc. Complementary filter tutorial for this is here, however this tutorial does not have a magnetometer and I do, thus I thought I ...
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2answers
62 views
Are all drone propellers compatible with all brushless motors?
I want to build a drone using these motors
SunnySky X2212 KV1400 Brushless Motor For RC Drone FPV Racing Multi Rotor
and these propellers
DYNAM 2X RC Model Airplanes 9x5 Inch Nylon Propellers ...
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29 views
Quadcopter motors not spinning
I made a quadcopter with an Arduino and all connections are fine. When I arm it, the motors spin without props but when I connect the props and arm it, the motors spin for a second and stop. Can ...
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1answer
56 views
A Delivery Drone
I'm building a delivery drone as my final year project. A drone that can deliver a package to offices around my small town autonomously, for my final year project.
I would like to know how this drone ...
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24 views
Planning minimum snap trajectories
I am working on motion planning algorithm for quadrotor. As I have learned in Coursera Aerial robotics course, trajectories for quadrotors should minimize snap which is equivalent to interpolating ...
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1answer
38 views
Are these parts compatible to build a quadrone?
I want to build a quaddrone from scratch, without using ready made controllers. I've read a lot about drones, how they fly and what essential parts they should have.
So I decided to make my own ...
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Calculation of quad-copter
Vector rotation around X-axis can be represented as:
Rx = \begin{bmatrix}1&0&0\\0&cos(\alpha)&sin(\alpha)\\0&-sin(\alpha)&cos(\alpha)\end{bmatrix}
Vector rotation around ...
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Doubt linearizing 2D planar quadrotor equation of motion
Equation of motion for 2D planar quadrotor are as follows
$\ddot{x} = \frac{1}{m} (u1+u2)sin(\theta)$
$\ddot{y} = \frac{1}{m} (u1+u2)cos(\theta) - mg$
$\ddot{\theta} = \frac{r}{I} (u1+u2)$
How to ...
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14 views
Improve altitude control on an outer loop PD controller for a UAV
I'm playing around with using PID control as an outer loop control for the position of a DJI drone in a Hardware in the loop simulator.
I have three separate controller instances for each axis x, y, ...
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26 views
Mission Planner: How to create a custom Waypoint Command
I am trying to set up a waypoint in Mission Planner that causes the drone to hover, take sensor data from a custom sensor, then either land or continue hovering based off of what the sensor data says. ...
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54 views
Drone Mapping Project
I'm mapping my college campus with a drone (as part of an approved science project). I want to film, measure the temperature, and take infrared video at the same time. What drones are good for ...
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2answers
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Can P gain too high cause roll of death?
I've been sperimenting with PIDs on my quadcopter and I've noticed that pitch P = 65 causes double front and back flips which looks like a roll of death (or in this case a flip of death) and lowering ...
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1answer
37 views
Image based visual servoing for quadrotor forward flight
I'm still trying to understand how to implement image based visual servoing (IBVS) for quadrotor. The control laws seem straightforward if you want to use IBVS to track a feature in the image space at ...
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1answer
46 views
Improving PID gain constants
I have started building and programming my own quadcopter. I used stm32 f103 and right now I'm testing PID controller. The issue is getting right gain constants. I have build a swing and attached ...
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2answers
62 views
Dropping a box from a quadcopter
I am trying to estimate when and where to release a box carried by a delivery UAV such that it falls on a given target. I need to take the wind speed/direction into account. (See the visual below for ...
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56 views
What the best roadmap to learn building and programming drones in the deepest level? [closed]
I want to learn how to program the drone in C without using the available libraries and platforms. I want to be able to understand how everything is set at a fundamental level(SRAM). Also, I want to ...
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Kalman filter to fuse ultrasonic altitude sensor and accelerometer
I'm a little confused on how to set up the Kalman filter matrices to fuse an ultrasonic altitude sensor and accelerometer from IMU. I am trying to implement this for a quadcopter. And what I'm ...
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How to translate individual rotor trust to Wrench object in ROS (force&torque)
I am learning about ros and dronesim Basically following this.
There is a wrench object where I can create with force and torque vectors. My question is how can I translate individual rotor trust to ...
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1answer
116 views
How to use depth map in A* path planning?
I've currently built a quadrotor with standard PID controllers for attitude, angular rates, and position control. I now want to implement obstacle avoidance and path planning using A*. I have a stereo ...
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106 views
How a quadcopter pitch/roll impacts thrust?
I'm thinking about how a quadcopter flight controller works, and I usually see that each motor speed is determined by a formula like:
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3answers
211 views
Quadcopter motors vibration problem
I built an Arduino Due based quadcopter, with MPU-6050 for auto levelling and BMP-085 for Altitude.
I am using Kalman filter code from here for the MPU-6050 to take the Roll and Pitch angels from the ...
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2answers
75 views
Why do we need to design controllers (feedback) for controlling a quadrotor?
For example if I want to make my quadrotor hover at a particular height, can't this be achieved by using an altitude sensor, and to correct it's position due to disturbances, can't we just write some ...
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Naze32 flight controller not connecting to RC
Cleanflight reads my Naze32, but the RC values aren't responding at all. Everything is connected and double checked that the wires were connected properly and firmware was flashed. Just not getting ...
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1answer
72 views
Arduino based quadcopter flipping problem [closed]
I have built an Arduino DUE based quadcopter and I am using HC-12 as a transmitter and receiver between my laptop and the quadcopter. What am I doing is just send a speed value from my laptop and ...
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1answer
24 views
what specification required for quardcopter to pickup 5kg weight
For a college student project, I am designing a quadcopter with a payload of 3-4kg.
As I am new I don't know what are the implications of such a requirement on the quadcopter design.
In particular ...
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1answer
156 views
DJI E310 Thrust Coefficient
I am reading Denis M. Filatov et al.'s paper "Parameters identification of thrust generation subsystem for small unmanned aerial vehicles" (https://www.semanticscholar.org/paper/Parameters-...
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How to implement a novel control algorithm for a drone
I and my research team are working on a novel drone design based on trirotor. The difference between this design and a trirotor is that it has an extra propeller to generate additional thrust, ...
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2answers
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sampling algorithms in motion planning and local minima
I am trying to run RRT algorithm for motion planning for a quadrotor. The quadrotor ends up sometimes in corners without reaching the goal. I realized from sources online, that it is due to local ...
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1answer
147 views
Wait simulation time in a non realtime ROS simulation in Python
I want to control a quadrotor with a Python script and run the simulation as fast as my laptop can, not only in real time. I've modified my world and now the simulation runs with 7-10 real time factor....
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1answer
120 views
stable altitude quadcopter
I'm currently working on a project to generate a stable altitude and automatic control for a quadcopter
I'm using arduino as the flight controller
Ultrasonic sensor HC-SR04
MPU-6050
However my ...
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1answer
140 views
Quad-rotor 1-D Linear Control Simulation with MATLAB
I was Performing Programming Assignment with MATLAB for Quad Thrust and Height for an Introductory Course. The control input for a PD controller was According to the Equation
u = mass*(diff(s_des, 2)...
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1answer
307 views
What's the main difference between different motion capture systems (Vicon, Optitrack, etc)?
Last month I visited a quadrotor laboratory ($ 20m^2$ approx). They used both Optitrack and Vicon systems. However, they told me that Vicon cost 10 times as much as Optitrack. Considering that any ...
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1answer
990 views
MSP (Multiwii Serial Protocol) receiving data with pyMultiWii issue
I want to get telemetry data from my flight controller (Matek F405-CTR) and send control commands to it via MSP protocol.
I've already configured UART3 port on Matek in Inav configurator (look at pic)...
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2answers
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Powering multicopter with multiple dedicated batteries
I am in the starting phase of building a fairly large octo-copter drone. I am currently thinking about the possibility of powering my octo-copter design using 4 separate batteries where each battery ...
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1answer
27 views
Excessive Heat Coming From Video Transmitter and Motor Electronic Boards
I'm building a quadcopter and I'm finding that certain electronic boards are heating up beyond what I believe the heat should be.
In this case I hooked up the video transmitter and then tested it. ...
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1answer
68 views
publishing on rostopics
I want to publish via terminal a particular message format - sensor_msgs/Joy. However, every format I use seems to be wrong and I cannot understand how it is meant to be written on the terminal. On ...
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1answer
87 views
Quadcopter ESC failure on first test flight
One of my four ESCs burnt out on a first test flight of a new quad build. I plugged the battery in, armed the drone, and one of the motors spun for less than a second before stopping. I immediately ...
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1answer
82 views
c++ Library for trajectory correction
I have a trajectory of a quadcopter in 3D. Out of all the poses in the trajectory, I want to correct one of the poses. I then want to adapt the rest of the poses based on the newly corrected pose. I ...
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1answer
90 views
BetaFlight sees motors working, but motors not spinning
I am using FlySky i6 Transmitter and a FS-iA6B receiver.
I have it set up using PPM and BetaFlight recognizes the motors in the Receiver section. All the values adjust according to the toggles and ...
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1answer
64 views
Can quadcopters save energy by flying in formation?
If two or more quadcopters are aligned, would the effect of drag due to the lead quadcopter's slipstream lead to measurable energy savings? And if so, how would one determine the optimal distance ...
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More than 6 cameras in Nvidia Jetson boards
A recent startup named Skydio develops autonomous drones for photography. The drone is named as R1 and utilizes 13 cameras to map its surroundings for localization and motion planning. The brain of ...
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Doing a project for college for a manned drone theortically only
Weight of the Drone in total will be 240 Kg.
It Will be a quad copter drone setup but with 8 rotors(two on each corner) for redundancy purpose.
Aim is achieve Thrust/weight ratio of 2.
So need total ...
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2answers
169 views
Quadcopter mathematical model and controller design
if we just examine the translational dynamics (X and Y direction), the dynamics are coupled, So if I want to design a PID controller to control the position, the outcome will be unpredictable because ...
