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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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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468 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
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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 ...
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0answers
140 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?
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0answers
22 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 ...
2
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0answers
220 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 ...
2
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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)...
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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 ...
1
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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 ...
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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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0answers
32 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 ...
1
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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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0answers
60 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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0answers
95 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. ...
1
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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 ...
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0answers
59 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
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 ...
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0answers
59 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 ...
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0answers
263 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 ...
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0answers
37 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.
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0answers
101 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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0answers
147 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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0answers
64 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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0answers
109 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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0answers
276 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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0answers
184 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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0answers
85 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 ...
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0answers
133 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 ...
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0answers
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 ...
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0answers
627 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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535 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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0answers
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 ...
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0answers
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 ...
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0answers
222 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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0answers
253 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). ...
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0answers
500 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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0answers
695 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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0answers
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 ...
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0answers
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 ...
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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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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 ...
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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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17 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 ...
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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 ...
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0answers
38 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 ...
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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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49 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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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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8 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 ...
0
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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 ...