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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87 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: ...
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1answer
103 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 ...
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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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1answer
555 views

Correct Quadcopter Yaw control implementation

I have built a quadcopter from scratch, including my own flight controller. I have implemented a sensor fusion algorithm (Madgwick algorithm), which returns me current Yaw, Pitch and Roll angles. ...
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1answer
864 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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Are all drone propellers compatible with all brushless motors?

I want to build a drone using these motors https://www.banggood.com/Wholesale-SunnySky-X2212-KV1400-Brushless-Motor-For-RC-Models-p-60577.html?cur_warehouse=CN and these propellers https://...
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3answers
172 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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4answers
10k views

What is the minimum number of RC channels required to control a Quad Copter?

Most of the blogs/website say we need a minimum of four channels for a quadcopter (pitch, roll, throttle, yaw): One channel for throttle A second channel for turning right and left. A third channel ...
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53 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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25 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
37 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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2answers
5k 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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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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4answers
445 views

Why do I need I-gain in my outer-loop?

I'm implementing a set of loops to control pitch-and-roll angular positions. In an inner-loop, motor speeds are adjusted to achieve desired angular rates of rotation (the "inner-loop setpoints"). An ...
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1answer
397 views

How to use a PS4 controller to control a Quadcopter

What I want is to be able to control my quadcopter with my PS4/PS3 controller. And a little bit explanation on how it's done so that I know what's going on, in a simple language if possible. This is ...
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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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2answers
52 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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1answer
130 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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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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4answers
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How to get longest flight time on octocopter that has decent payload already on it?

I want to design an octocopter that will respond to incidences of crime and terrorist attacks. Survey and gather intel and come back to HQ. I have used a 16000mAh 6S lipo battery with no lead, but ...
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12 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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1answer
104 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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0answers
18 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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1answer
30 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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3answers
1k views

Self Powered Quadcoptor

I have this idea or a very curious question in my mind. I am no where near professional though, but i would like it to be answered. We all know how wind turbines can be used to generate electricity. ...
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1answer
33 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
54 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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1answer
231 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
843 views

Stabilizing a Drone

I have my IMU and I can get attitude (pitch, roll, yaw) as well as gyro (x, y, z) As far as I can tell, ...
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4answers
32k views

Need help calculating the thrust on quadcopter motors

I'm trying to calculate the lifting capability of my four quadcopter motors. I tried using eCalc but it doesn't have battery I'm using. Are there any equations to keep in mind for doing these ...
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3answers
35k views

How to calculate quadcopter lift capabilities?

I'm looking for an equation (or set of equations) that would allow me to predict (with fair accuracy) how heavy a payload a quadcopter is capable of lifting. I assume the main variables would be the ...
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1answer
77 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
2k views

How can we use the accelerometer for altitude estimation?

I am currently implementing an autonomous quadcopter which I recently got flying and which was stable, but is unable to correct itself in the presence of significant external disturbances. I assume ...
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2answers
45 views

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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3answers
1k views

What is the most appropriate SLAM algorithm for quadrotors with RGB-D camera?

I have been researching on SLAM. I came across EKF SLAM which uses odometry to measure the robot's initial position in the map and as well as landmarks which helps the robot's position to be more ...
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1answer
54 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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0answers
46 views

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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0answers
12 views

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
95 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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2answers
88 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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1answer
482 views

Quadcopter motor fails beyond 50% throttle

I have recently build a quadcopter with the following specs:- KK mini board 4 x A2212-1000kV / 13T motors 4 x 30A ESC 2200mAh 25C 12.5V battery The issue i am facing is that once the throttle ...
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2answers
287 views

Can high voltage power lines provide a super highway for drones?

Is there a way to convert the EM field that surrounds high voltage power lines for direct usable electricity for air or ground drones for continuous flight or travel? Added: Yes could the EM field be ...
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2answers
499 views

If you can create pure yaw motion with a quadcoptor then why won't this work with a tricoptor?

An answer to the question Why are quadcopters more common in robotics than other configurations? said: You need 4 degrees of freedom to control yaw, pitch, roll and thrust. Four props is ...
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176 views

Euler Angles Order For Quadrotor Modelling

I am modelling a quadrotor and I need to choose an order for the rotations that transfer vectors which are represented in Earth Frame to the Body Frame. what is the most logical order for these ...
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2answers
889 views

Guiding a Quadrotor Towards a Target

I am working on a quadrotor. I know its position -- $a$, where I would like to go -- target position $b$, and from that I calculate a vector $c$ -- a unit vector that will take me to my target: <...
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2answers
124 views

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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179 views

kk2.1.5 gyro bubble is not at centre [closed]

I have a quadcopter controlled through KK2.1.5 flight controller. I have been flying with it without problems, but now i am facing a problem. When i start and arm the kk2.1.5, by giving throttle it ...
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1answer
169 views

Compatibilty of my setup?

I'm building my first quadcopter, and these are the components I intend to buy: Motor: EMAX BL2212 1400 KV Brushless Outrunner Motor around 0.9 kg thrust: Flight Controller: Multiwii V2.5 Flight ...
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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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2answers
160 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 ...