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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Generate a Trajectory from GPS coordinates
How would I generate a trajectory (e.g. minimum snap/jerk/acceleration) for a quad rotor between GPS coordinates? In all the examples that I have seen, they assume that the x,y positions are in meters ...
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Is Image Based Visual Servoing a non-linear controller?
Is Image Based Visual Servoing a non-linear controller? I think it is as the Image Jacobian has square terms of u & v (image-plane coords).
Where $p_u, p_v$ are the width & height of each ...
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Calculating lift capability and current draw of quadcopter motors
I have seen a lot of posts citing this answer which gives the rough estimate that a quadcopter needs approximately 150 watts of power per kg in order to hover. I am trying to do some theoretical ...
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How to make a quadcopter hover when tilted forward or backward?
is making a quadcopter hover forwards or backwards possible ? The only two ways I can think of making this happen is by using motors to move the rotors in such a way that they are always vertical and ...
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Quadcopter PID Controller for distance
I am trying to use a PID controller to stop a quadcopter at a specific location while travelling horizontally, however currently it overshoots/undershoots depending on the max velocity. I have tried ...
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Imaginary part in result of inverse laplace transform
I am working with a system(closed-loop feedback control) that has a transfer function like this
F = 20*(s+5)/(s^4+13.5s^3+41s^2+80*s+100)
this one is in the s-domain but for the response analysis, I ...
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1answer
52 views
What flight firmware stack is most common in aerial robotics research environments?
I'm considering Aero-Astro grad school and am looking into acquiring a drone hardware platform to implement GNC/ PNT/ autonomy papers like those I might see from, e.g., the Navigation and Autonomous ...
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What is the correct architecture of quadcopter control?
I want to make a quadcopter flight controller for my University project. Lately I was searching for systematic architecture of control system used by quadrotors. I have implemented one of the ...
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Quadcopter sensor fusion
I'm interested in quadcopter position tracking using a mix of IMU and visual navigation.
I want to implement an EKF filter but what's not clear to me is how the filter would be updated using the ...
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Barometer altitude calculation
I want to calculate altitude using a barometer which is mounted in the proximity of a number of components which get quite hot and raise the localised temperature. The barometric pressure equation is ...
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LiPo battery power maximization
I don't know where this question should be asked so excuse me if this isn't the place. I have a 3S1P 2.2A 50C battery for a drone that I build. I have a charger that looks like this:
https://www....
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Detection of linear acceleration vs rotational velocity/acceleration
I am wondering, how do you differentiate between linear acceleration and rotational velocity and acceleration for IMU? A rotational velocity or acceleration will still appear to the accelerometer as a ...
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For a quadcopter do i need to place the gyroscope sensor at the center of mass?
I am trying to build a quadcopter and think it is essential to have its center of mass in the middle. Therefore, I am planning on putting the battery in the center. However, this will cause me to ...
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1answer
25 views
BLDC Stuttering when attached to Arduino Nano
I am working on building a quadcopter with an Arduino nano. I am currently only working with 2 motors. However, I am experiencing an odd issue. When I try to run my motors, one of them runs fine, ...
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28 views
Angular rate controller
I try to design an attitude controller with cascaded PD-P structure (angle-angular rate) for well-known quadrotor dynamics according to the thesis.
I use an imu as expected in order to get the angle(...
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46 views
How to calculate the pitch of the quadcopter rotor blade and their efficiency?
I have gone to some of the blade designs and profiles of the blade which suits my requirement. But, once after entering the Theoretical calculation, I was stuck in the determination or the ...
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1answer
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Setting up rewards to account for UAV crashes (Reinforcement Learning)
I am working on a project to implement a collision avoidance algorithm on a real UAV. I'm interested in understanding the process to set up a negative reward to account for scenarios wherein there is ...
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What are the uncertainites in the Quadcopter model for which we make a Robust Controller?
A quadcopter model may have some uncertainties for which we usually use a robust control.
Can please someone specifies some uncertainties? like for what kind of uncertainties do we make a robust ...
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Measurements of IMU (accelerometer and gyroscope) are drifted or with too much error
I placed my drone on a table (i.e, at rest) and save (using a ROS topic) the IMU readings:
As you can see, there's a lot of drift or error. I would expect the $x$ and $y$ acceleration to be 0 (I know ...
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Simulation flight gives inconsistent sensor data
I made a short outdoors flight of 10 minutes with hector quadrotor on Ubuntu 16.04 Gazebo 7. The sensor readings and the path images are as attached. The flight was simple. I took of slowly, moved ...
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What is a low level controller for a quadrotor?
I am studying control systems, and I was reading a paper about quadrotors. In the paper it is said that in the platform of the robot it has to be present a low level controller.
But what is a low ...
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1answer
24 views
Numeric integration problem in a quadrotor vertical descend code
I'm trying to implement a drone in vertical descend. As for maximum simplification, I maintain all its angles to 0, and just try to get to the my desired descend. However, when I debug, I see that my ...
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1answer
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Tuning a cascaded attitude and attitude rate PID controller
Assume that I have an object in 3D, and I want to have a controller that stabilizes its orientation (also referred to as "attitude").
To be sure we are clear:
attitude is measured in "degrees" or "...
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Proper Joystick Inputs for UAV Quadrotor Control
I am working on the adaptive control of quadrotor UAV in MATLAB/Simulink environment. I prepared some trajectories for the UAV to follow in $x$, $y$ and $z$ directions. I would like to implement these ...
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What happens when I send the land command to my quadcopter?
My first question is: imagine I have a self-made quadcopter and I want it to land. How can I achieve that? Do I have to stop the 4 motors at the same time?
Second question: I use an AR.Drone 2.0. ...
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what kind of processing is required on raw IMU data before it is fed into a filter?
Im working on quadcopter. At this stage im coding a reference system for quadcopter using 10DOF board.At this stage im at the point of only getting raw data values from accelerometer, gyroscope, & ...
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Solving for rotation matrix: Aligning vector a with vector b and then rotating around vector b
Currently working on a quadcopter simulation. I have a desired thrust vector,
t =sin(30)cos(45)a1+sin(30)sin(45)a2+cos(30)a3
and desired yaw angle,
...
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Racer star Flight controller 30 amp all in one esc to fly sky ia6b receiver
I im having trouble connecting the racer star 30 amp esc all in one fc to the fly sky ia6b receiver. It says there connected but no imputs are going through does anyone know the problem?
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Roll, pitch and yaw in a quadcopter
The axis definition affect the roll, pitch and yaw definition in a quadcopter?
Image I have the axis defined this way:
then to roll I have to put a higher velocity in (1) than in (3) (turn around ...
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1answer
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Drone or UAV Platform for deployment of Deep Learning / Reinforcement Learning
Good day,
It has been a while since I last posted. I would just like to ask if anyone part of a lab or company doing research on aerial robotics has any suggestions of a good platform for deploying ...
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How to simulate a quadcopter using robotics simulator?
I am building my own autonomous quadcopter. I wish to simulate it using V-REP/Gazebo in order to tune the flight controller. I see that there are inbuilt models but they have properties(physical ...
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Get detections from picamera and control drone accordingly
I am working on a project where I built a drone, with a Navio 2 and RPi3B+, and now I want to be able to control it based on inputs from an object detection program.
I wrote the program in Python ...
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47 views
BLDC Outrunner Direction Change?
I'm designing a Quadcopter for my project. I've seen a lot of guides that the motor rotational direction should be opposite to each other. My doubt is whether the motor have a variety of CW rotation ...
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How to calculate the maximum charge of the battery?
How to calculate the maximum charge of the battery that it can give from a fully charged state to a fully discharged one. I have been trying to solve this problem for 2 months. The drone itself is not....
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51 views
Drone Horizontal Speed Measurement
Assuming no GPS is available, what can be used to measure the horizontal speed of a hypothetical drone? Sensor mass and size don't need to be taken into account. Could small Doppler radars , maybe ...
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How to prevent loss of mavros msg packets?
I am working with Pixhawk 2.1 cube, using telemetry module and mavros to establish communication between vehicle and companion computer. I am using rostopic echo to save /mavros/local_position/pose ...
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Can I use 3 blades instead of 2 blades with the same pitch and dia to increase the thrust of my motor?
Can I use 3 blades instead of 2 blades with the same pitch and dia to increase the thrust of my motor? Will it burn my motor? or it will damage my ESC? Some motors are having high torque but low rpm, ...
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How should i select motor and blades for my Hexacopter?
I'm designing a fluid sprayer Drone (HEXACOPTER) for Agriculture as my college final year project. The capacity of the fluid spraying unit including fluid & Sprayer around 2kg. I don't know how to ...
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Flysky I6 transmitter not responsive on betaflightl
I am building a fpv quadcopter and I encountered the following problem:
I soldered all points correctly into their allocated pads and ensured there were no shorts. I use a racerstarf4s flight ...
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Can I preload a mission into my drone (navio2) so it can execute it without being connected to a ground station by telemetry during flight
The question really speaks for itself. I don't have any way to connect with my navio2, running ardupilot, during flight (except a radio controller if things go wrong). Could I still make my drone ...
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1answer
39 views
DJI on-board SDK vs. mini computer
I am planning to integrate a LIDAR sensor on my DJI Matrice 100 and I will use the data generated to control the height of my UAV. I was wondering if I would need to attach a separate processing unit ...
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Quadcopter for modest payloads w/SDK?
I'm interested in attaching custom camera(s) to a quadcopter that can carry a modest (<0.25 kg) payload.
I prefer to write code to fly the quadcopter (e.g. traverse a region and image) rather than ...
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Why am I unable to tune the PID parameters on my quadcopter?
I am building a nano quadcopter in X-Configuration with coreless DC motors, 65mm 2 blade propellers and a 1S Lipo battery (860mAh, 25C). The weight of the assembly is around 70g in total.
I am ...
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Why do we connect pins 2 and 3 on APM to enable PPM
Why is it necessary to connect signal pins 2 and 3 via jumper on an APM2.8 board to enable PPM.
I am using flysky fs-ia6b receiver with the APM mentioned above.
Pins 2 and 3 control pitch and ...
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Battery weight in quadcopter
We all know that the fly time of a quadcopter is proportional to its weight (and the propellers size, etc), and a high capacity battery is heavy, but also a high capacity battery would make the fly ...
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Checking for external compass in mission planner
How can I check whether the external compass is really selected for my APM 2.8 using mission planner.
The primary purpose of using the external compass is to have less electro magnetic interference ...
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Designing own robot for Gazebo simulation?
For my project I am trying to model and control a quadrotor with actuating arms. As I don't have a physical model with me, I want to simulate and control the robot using ROS and Gazebo.
At the ...
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How to find the minimum battery capacity C needed for the drone to reach the landing point?
I calculated the height object height, Distance to the base of the object, Drone weight, maximum and minimum battery voltage, resistance force and power ($P$).
The drone is flying in steady state, ...
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Optical flow inputs
I'm reading how the optical flow of my quadcopter works. The output of the optical flow that interests me is the linear (horizontal) velocity: $v_x$ and $v_y$. Here (page 10) it says that it fuses the ...
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How to attach flysky receiver to racerstar all in one esc and flight controller?
I am building an fpv racing quad I encountered the following problem:
I have a Racerstar StarF4s 30A esc and flight controller combo and a Flysky 2.4ghz iA6B receiver how and where do I connect these ...
