Questions tagged [quadcopter]
A quadcopter, also known as a quadrotor, is a multirotor helicopter that is lifted and propelled by four rotors.
481
questions
2
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1answer
81 views
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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votes
1answer
48 views
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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2answers
161 views
Cmake Error While Buliding Pixhawk simulator
I am trying to run "px4 SITL simulation" using gazebo7 on my machine with "UBUNTU-14.04 LTS" using these commands:
...
0
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1answer
23 views
Air Resistance Drag Force Calculation For Quadcopter
Hello there. Hope you are all doing well.
I have created a dynamic quadcopter model on Simulink and designed a controller for it. So far, everything is going well. However, since I am going to be ...
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1answer
52 views
Mapping Joystick Inputs to Quadcopter
hope you are all doing well.
We are doing a project where a quadcopter is controlled by an ordinary joystick. We have constructed the Control Algorithm and the joystick to move the quadcopter in ...
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1answer
47 views
Drone lost traj recovery
So I am using slam algorithm to localize the drone which is gps denied . The input to the slam algo is imu data and a video .
Now after the first run of the slam algorithm it creates the trajectory ...
3
votes
1answer
54 views
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 ...
0
votes
1answer
218 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 ...
1
vote
1answer
72 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 ...
0
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1answer
62 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 ...
0
votes
1answer
96 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 ...
4
votes
1answer
409 views
MPU6050: Changing Gyro Output Range Throws off Positional Reading
I am using the MPU6050 in conjunction with an Arduino and Jeff Rowberg's i2cdev library, and my project requires that the gyro rate outputs be more precise than the default setting, which is 1/16.4 of ...
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1answer
16 views
Why does the quadcopter become unstable after turning?
I'm trying to write a simple test MAVROS node where my quadrotor is expected to go in a straight line and then have 180-degree turn and come back and land on where ...
3
votes
4answers
1k 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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vote
0answers
71 views
Can someone explain this yaw angle calculation equation?
Nowdays, I am trying to understand PX4 Autopilot(Drone Flight Control Open Source) attitude control code. But I can’t understand formula below which is in attitude control code description.
Can anyone ...
2
votes
1answer
3k 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)...
0
votes
1answer
139 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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votes
3answers
3k views
Quadcopter Localization Beacon
I want to use an RF beacon to localize my quadcopter for autolanding, when GPS is not precise enough, for example, when my driveway is only 10 feet wide, and the GPS is only showing 20-30 ft. accuracy ...
2
votes
1answer
583 views
Multiple antenna styles on FPV without true diversity
I did a search and couldn't find a site that stood out as RC. I was hoping you guys would be closest. Here's my question.
I bought a set of Eachine EV100 FPV goggles. Every resource I've looked at ...
7
votes
1answer
5k views
Quadcopter PID Algorithm
I'm trying to implement a PID control on my quadcopter using the Tiva C series microcontroller but I have trouble making the PID stabilize the system.
While I was testing the PID, I noticed slow or ...
0
votes
1answer
1k views
Quadcopter PID Tuning for Altitude Hold/Position Hold along Z axis
Good day, I have just finished tuning the Pitch and Roll PID's. I did this by setting the throttle such that the quad is weightless. I did the tuning of each axes separately.
I would just like to ask ...
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1answer
92 views
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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1answer
3k views
How to find state-space representation of quadcopter?
I want to design a linear controller for a quadcopter which is 6dof nonlinear.
I have non-linear equations. But in order to design a linear controller, I need to find a linear state-space model of ...
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0answers
68 views
Drone Development using ROS Noetic on Ubuntu 20.04
I installed ROS Noetic on Ubuntu Mate 20.04 in my Raspberry Pi but couldn't find any specific tutorial to follow along for Noetic. Most are available for Melodic, which doesn't work with the latest ...
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1answer
2k views
Holonomic and Non-holonomic UAV's: Gliders vs Quadcopters
Good day I would just like to ask if a fixed wing aircraft such as a glider(without thrust capability therefore needs external forces such as air flow to move constraining its movement) can be ...
5
votes
1answer
654 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....
7
votes
2answers
7k views
Position Controller for a Quadrotor
I have a question regarding the implementation of a quadrotor's position controller.
In my Matlab model the quadrotor takes 4 inputs: a desired altitude ($Z_{des}$) and desired attitude angles($\Phi_{...
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vote
1answer
81 views
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 ...
5
votes
4answers
11k views
How would i go about learning to code a flight controller?
I'm interested in quadcopters/multi-rotors and want to eventually code my own flight controller ala an APM and/or Pixhawk. I've got a little experience in programming (i.e i know about if/else/else if ...
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vote
1answer
32 views
What devices can I use as a flight controller in a Quadcopter project? [closed]
I know that the flight controller is the heart of the quadcopter and a device which has to be considered greatly when building a quadcopter project. In regards to this quadcopter project that I'm ...
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0answers
20 views
Quadrotor Smooth Trajectory optimization
I'm currently following a course on coursera on quadrotors, and i'm currently focusing on the trajectory planning mechanism.
In the course, it's said that one of the criterias when planning a ...
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1answer
60 views
Inertial frame's angular velocity expression
I'm following a robotics course on coursera which talks about aerial robotics and more specifically quadrotors.
I'm trying to understand the logic behind the relationship between the angular velocity ...
2
votes
1answer
90 views
Inertial frame VS Body-fixed frame momentum correction factor
I've recently enrolled in a Coursera aerial robotics course and i'm trying to understand how the rate of change of the angular momentum is computed from the inertia frame to the body-fixed frame.
...
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2answers
54 views
How can I protect my props from being damaged?
I have a quad copter and I'm developing my own flight controller to run the code and testing it on the quad.
As you all must be knowing, this means a lot of broken propellers.
I thought of making a ...
0
votes
1answer
50 views
Quadcopter descends when rolled or pitched
I'm currently working on a quadcopter using f450 frame and YMF32 code. I was able to successfully build the quadcopter and It flies without having any vibrations or wobbles. Also, I tuned the PID ...
0
votes
2answers
79 views
Quadrotor dynamics: How is torque created
I'm a software engineer and I've recently engaged into Robotics field. I've started by a course on Coursera which talks about Aerial robotics and thus quad-rotors. I'm trying to understand how quad-...
0
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0answers
21 views
Motor failure detection and compensation in quadcopter
I need to perform some analysis on motor failure detection and compensation in quadcopter. I have been using PX4+Gazebo for 3 months and recently found that it does not include motor failure detection ...
0
votes
1answer
41 views
When is the Quadcopter out of the control?
Assuming ideal environment/hardware flying conditions, is it possible that the autopilot loses the control of the quadcopter?
What is the maximum tilt in roll and pitch that is allowed for the ...
0
votes
2answers
51 views
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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0answers
30 views
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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0answers
15 views
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 ...
0
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1answer
64 views
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 ...
0
votes
1answer
27 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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vote
3answers
166 views
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 ...
0
votes
2answers
78 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 ...
0
votes
1answer
151 views
Quadcopter stabilisation
I recently built a quadcopter and programmed a code to stabilise itself.
The copter takes the hight from a distancesensors and the angle from a MPU 6050 gyro and accelerometer with a complementary ...
0
votes
1answer
36 views
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 ...
4
votes
1answer
6k views
How to find a solution for quadcopter PID control
I've built a quadcopter and a rig to safely test it on. I'm working on the PID for controlling the roll pitch and yaw. I understand how a PID works on a more simple plant like say a robot with wheels ...
0
votes
1answer
51 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 ...
0
votes
1answer
55 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 + ...