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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4 votes
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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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4 votes
0 answers
492 views

How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?

I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
3 votes
1 answer
80 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 ...
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3 votes
1 answer
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)...
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3 votes
0 answers
141 views

On-board monocular odometry for quadcopter stabilization

Has anyone done this with EKF/PID on a small microcontroller? Or know of code snippets to help implementing this?
2 votes
0 answers
28 views

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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2 votes
0 answers
356 views

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 ...
1 vote
0 answers
37 views

Move a Simulated Quadcopter in a straight line

I'm trying to move a quadcopter in a simulator from (x0, y0) to (x, y) in a straight line at a constant speed. The simulator takes x and y inputs in m/s. Altitude as an input is a constant value in ...
1 vote
0 answers
19 views

SMC: Is there a way to control two sliding surfaces with just one control input?

This is a question related to Control Systems. I've been searching papers all over the internet with very little success. I know that traditionally we want one control per sliding surface but If ...
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1 vote
1 answer
62 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 ...
1 vote
0 answers
28 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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1 vote
0 answers
44 views

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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1 vote
0 answers
83 views

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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1 vote
0 answers
136 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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1 vote
0 answers
63 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 ...
1 vote
0 answers
27 views

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 ...
1 vote
0 answers
68 views

Quadcopter bldc PID control

Working on stabilizing a Quad using Arduino Due. I have slightly modified one of the examples of Jeff Rowberg's library to give yaw, pitch and roll angles (zero initialized angles). Moreover, I am ...
1 vote
0 answers
350 views

Treatment of euler angles in quadcopter control

In most implementations of quadcopter control systems I've seen, each axis of the quadcopter is controlled independently. For example, to control the rate in the roll axis, the desired output is ...
1 vote
0 answers
39 views

how to get velocity of Ar drone 2.0

i have question about AR Drone 2.0. i am using ROS Gazebo and Python. my question is how to get velocity of quadcopter? i need velocity to count position of quadcopter. Thankyou.
1 vote
0 answers
109 views

Quadcopter with wind effect

I drawn the Simulink model of a quadcopter with virtual joystick input and now I want to add the wind but I am little bit confused how to add wind with that model. actually my model is like that input ...
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1 vote
0 answers
158 views

How to create a Position controller for a Quadrotor

I have a controller that uses Theta,Z,Psi and Phi as a command. Now I want to create a position controller so that I can command a trajectory. I have checked a similar question raised in this attached ...
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1 vote
0 answers
68 views

Integrating Instantaneous Accelerations taken at discrete time intervals

I am trying to integrate instantaneous linear and angular acceleration taken at discrete time intervals (1/100 seconds, 100hz). data is collected beforehand, and integration is done offline, I only ...
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1 vote
0 answers
124 views

How to include a space and robot geometry with OMPL

Let us assume that I am able to create a 3D map (octree) based on information gathered by a Lidar and/or a camera on a quadrotor. Now based on the current 3D representation of the world, I want to go ...
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1 vote
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300 views

Is it my PID that is unstable or my physical system? (Quadcopter)

I've been working on this Arduino-MPU6050 quadcopter for a while now, and it looks like it's close to being finished. I have programmed it in rate mode, so the PID's control the rotational velocity. ...
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1 vote
0 answers
188 views

How can i get the Laplace Transfer function for control process for quadcopter?

I'm a beginner for quadcopter construction with PID controller and PIC 16F877 microcontroller. Now, I'm troubling with how do make the control process with mathematical model for my quadcopter :( and ...
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1 vote
0 answers
91 views

Quadcopter takeoff when low throttle /w PID

I'm making my own quad controller from scratch. I have fixed one axis on a "pendulum" so that only one axis can move freely ( + mode). Let's say that I have 0 throttle. As you know PID output is added ...
1 vote
0 answers
136 views

Using an AR.Drone's IMU to perform PDR

My task is simple: I want to move my drone manually around a room (IMPORTANT: I DO NOT WANT TO FLY IT) and I want to see its position update on a map using IMU data. I've attempted something in ROS ...
1 vote
0 answers
90 views

PID tuning for Quadcopter

I have been stabilizing my quadcopter. I tuned my angle PIDies and my quadcopter tries to stabilize itself, but there is some overshooting. Which is, I think, due to gyro rates. I have read that we ...
1 vote
0 answers
635 views

CC3D OpenPilot - Communication port

I am building a quadrotor with a CC3D (OpenPilot) and a RPi. My first idea is trying to communicate the CC3D with the RPi using the main port of the first one but I can't find any information about ...
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1 vote
0 answers
547 views

Telemetry with APM 2.6 and XBee

The transmission of telemetry data between the ground base station and APM 2.x (Arducopter), using XBee, is not well documented. The only documentation is Telemetry-XBee, but it does not specify what ...
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1 vote
0 answers
58 views

Olf Futaba Rx & Tx with APM micro 2.7.2?

Hi there I just found this old Rx & Tx in my loft and need to know weather it is compatible with my APM micro 2.7.2. I already have telemetry but that does not give me manual control. My guess is ...
1 vote
0 answers
1k views

Orientation parameter for quadcopter with madgwick fusion algorithm

I recently decided to build a quadricopter from scratch using Arduino and now I'm faced with an orientation estimation problem. I bought a cheap 10DOF sensor with 3 axis magnetometer, 3 axis ...
1 vote
1 answer
244 views

Quadcopter force/torques duty cycle conversion

after having been determined my control loops for my quadcopter project, I'm going to determine the motor commands (PWM duty cycle) from the motor forces/torques. I was following the guidelines of ...
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1 vote
0 answers
264 views

Is motor current proportional to thrust?

So I was making sure my circuit for an airboat I was working on was safe. And checking a motor, it has 35 amps max current running 11.1v at 1000. (However my ESC has a 30 current, 40 burst amps). ...
1 vote
0 answers
510 views

Fusion of GNSS position data and prefused 9-dof AHRS data

Bosch, FreeScale, InvenSense, ST and maybe others are releasing 9-dof AHRS platforms containing their own fusion software and outputting filtered/sane/fused data (attitude as quaternion and linear ...
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1 vote
0 answers
703 views

MPU9150 - Yaw angle Drift

I use MPU9150, also use DCM and Complimentary filter to compute roll, pitch and yaw. However, my Yaw is not so smooth. How can I solve that problem? I looked at the datasheet of MPU9150, but I didn't ...
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1 vote
0 answers
94 views

Quadcopter one beep and blink problem

I have just built my first quadcopter, and have run into a bit of a snag. When I plug in the power, I only get one beep and a red blink from the flight control board, and nothing else happens. When I ...
1 vote
0 answers
51 views

What are some generally accepted lift capacity guidelines for multirotors?

e.g. what general multicopter configurations would be generally accepted as recommendations to lift 0.5kg, 1kg, 2kg, 4kg, etc. Is there any general correlation between number of motors on a similar ...
0 votes
0 answers
8 views

Implementation of the PID loop over simulink for Pixhawk

i am currently working on my Master degree to implement an adaptive control Law , so i need to program a control loop for the Pixhawk over simulink, i worked on it for 3 week and i still not have a ...
0 votes
0 answers
24 views

How to decide the drag constant of motors?

Hi I'm current working on building an AUV, and I'm calculating the allocation matrix for my dynamic system. But I don't know how to model the drag momentum of motors. I know in UAV, they model it by ...
0 votes
0 answers
70 views

Uncontrolled drift of Visual Inertial Odometry

I'm trying to use the VINS-Fusion package to obtain odometry for a quadcopter. The primary sensor is an Intel Realsense D435i. I've calibrated the camera and IMU extrinsics using Kalibr. IMU ...
0 votes
0 answers
43 views

How to calculate manned drone Thrust, Propeller size and Battery capacity(including weight)

This is for a manned drone with 250 gross weight(academic project). I have assumed the weight of the passenger to be 80kg which is included in the aforementioned value. The design considered is of ...
0 votes
0 answers
230 views

Simulate Wind in Gazebo - physics_msgs

I am trying to simulate a drone inside an environment with constant wind. I have found a good plugin (link below) and I have done the following to integrate this plugin in my system: include the ...
0 votes
0 answers
26 views

Trajectory optimal for quadcopter

I have defined a quadcopter that I control with a PID controller. The dynamics that define it are such. $T=mg+m\ddot{z}$ $\theta=\frac{\ddot{x}}{-9.82}$ $\phi=\frac{\ddot{y}}{9.82}$ As you can see I ...
0 votes
0 answers
51 views

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 ...
0 votes
0 answers
31 views

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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0 votes
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100 views

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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0 votes
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13 views

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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0 votes
0 answers
10 views

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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0 votes
0 answers
215 views

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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