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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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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384 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 ...
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131 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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114 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 ...
2
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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. ...
2
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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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0answers
15 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 ...
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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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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
26 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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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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0answers
50 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
144 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
32 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
79 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
128 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
59 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
72 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
214 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
2k 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
172 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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76 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
128 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
82 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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585 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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508 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
55 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
193 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
231 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
456 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
674 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
92 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
48 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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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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0answers
26 views

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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0answers
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 ...
0
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1answer
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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0answers
23 views

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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0answers
15 views

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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15 views

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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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, ...
0
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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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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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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
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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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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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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1answer
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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0answers
309 views

Defining a trajectory for a quadrotor

I' m looking for a trajectory generator (the algorithm doesn't matter, since I m going to write it using C++ ) that generates a trajectory (a parametric curve in space) defined point by point which is ...