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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42
votes
2answers
68k views

How to choose the right propeller/motor combination for a quadcopter?

There are many sites which explain briefly this problem and even propose combinations. I however would like a much more detailed explanation. What is going to give my quad the most agility? Do I need ...
35
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4answers
43k views

Quadcopter liPo battery weight/capacity trade off

I'm trying to find where additional battery capacity becomes worthless in relation to the added weight in terms of a quadcopter. Currently with a 5500 mAh battery, 11.1V, I can get between 12 minutes ...
21
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4answers
4k views

Why are quadcopters more common in robotics than other configurations?

I've noticed that almost all research being done with helicopter robots is done using quadcopters (four propellers). Why is there so little work done using tricopters in comparison? Or a different ...
21
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5answers
2k views

Is it better to have batteries distributed at the rotors or the center of the multicopter?

I've seen 3 approaches to mounting batteries on a multicopter: All the batteries rigidly mounted near the center of the airframe All the batteries in a bag hanging under the center of the airframe ...
20
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4answers
5k views

What frequency does my quadcopter output-sense-calculate-output update loop need to stay stable?

With a 600 mm (2 foot) motor-to-motor quadcopter, what frequency does my output-sense-calculate-output update loop need to stay stable? I'm estimating a total takeoff weight of very roughly 2 pounds (...
18
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3answers
21k views

Why do quadcopters use brushless motors

I've been thinking about starting a quadcopter project, maybe building it from scratch. One of the main barriers-to-entry for me is the motors: it seems like most quadcopters use brushless motors. I ...
17
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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 ...
13
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3answers
18k views

Quadcopter PID tuning

In continuation of the question I asked here: Quadcopter instability with simple takeoff in autonomous mode ...I'd like to ask a few questions about implementing a basic PID for a quadrotor ...
12
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3answers
2k views

Virtual Testing Environment for Drones

Does anyone know of a robotics developer environment ideal for testing AI programs for drones (e.g. quadrocopters, planes, helicopters, etc.)? I would like something like Microsoft Robotics Developer ...
11
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3answers
13k views

How to stabilize a quadcopter

Today was my quadcopter's first "flight". I'm running megapirate on a Crius AIOP v2 with a Turnigy Talon v2 frame. I only touched the throttle stick on my remote, nothing else. When I felt the ...
9
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4answers
8k views

How to use quaternions to feed a PID quadcopter stabilization loop?

I'm making a quadcopter. I have set up a PID loop to stabilize it to a given Euler angle (pitch and roll). The problem arises when the roll approaches 90 degrees (45 degrees and up). The values don't ...
9
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2answers
940 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: <...
9
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1answer
3k 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 ...
9
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2answers
13k views

How to use Arduino for ESC control?

I am using an Arduino Uno to control an ESC for my (in progress) quadrocopter. I am currently using the servo library to control the ESC, which works great. Except.. A count of 100 is max speed, ...
9
votes
1answer
5k views

How to balance a flying quadcopter?

I'm using my own code to create a quadcopter robot. The hardware part is done but I need to balance the copter. The original video demonstrating the problem was shared via dropbox and is no longer ...
9
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2answers
5k views

Our quadcopter goes forward instead of hovering in place. How to correct it?

I'm trying to do a quadcopter with some friends and we have a problem. It goes forward instead of hovering in place. We made a video to explain it, you can see it here. As you can see, the quadcopter ...
8
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3answers
3k views

Quadcopter application underwater

Just out of curiosity, can the concept of a Quadcopter be applied to an ROV? Would it work the same way underwater as it would be in Air? If not what kind of modifications it would take to implement ...
8
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5answers
13k views

Using an Xbox controller to fly a Quadrocopter

So I have a quadrocopter, it does come with a remote but I intend to run certain modifications to the copter, like installing a camera, a mechanical manipulator, and other random modifications. The ...
8
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4answers
5k views

Are propellers dangerous? [closed]

Aren't all propellers super dangerous? How are these startups like Hex and Pocket Drone selling drones as 'kid-friendly' to consumers? What happens if a kid puts his finger in a propeller's movement ...
8
votes
4answers
8k views

Quadcopter forward speed

I am trying to better understand the dynamics of forward flight in multirotors. Assuming I have a quadcopter with 4 motor/propeller combinations capable (each) of a propeller pitch speed of, say, ...
8
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2answers
1k views

Quadcopter: Stabilization along the z-axis (for holding altitude)

I recently spent some work on my quadcopter firmware. The model is stabilizing its attitude relatively well now. However I noticed, that it is changing its altitude sometimes (maybe pressure changes, ...
8
votes
2answers
9k views

How do I work out the specifications of motors and propellers for a quadcopter?

What will be the specifications of motors and propellers that can approx produce a thrust of 100kg in a quadcopter? We are planning to lift a total weight of 50 Kg along with the 20 Kg weight of the ...
8
votes
1answer
1k views

How can I manipulate real-time sonar data from my Arducopter in Arduino?

I have a APM 3DR Quad with a 3DR radio telemetry kit. I would like to send real-time sonar data to my laptop (running Windows 7) in order to manipulate it in an additional Arduino Sketch. The ...
8
votes
1answer
885 views

Dropping PWM on Ardrone Parrot 2.0

I am having some issues with the ARDrone Parrot 2.0 and hope someone else may be running into the same thing. While hovering, the drone is (seemingly) randomly losing altitude then recovering . It is ...
7
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2answers
3k views

Drones and camera streaming

How do you stream video feed from a camera on a drone? I would think that at high altitudes Wi-Fi won't work. So what would you usually do, and how?
7
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2answers
4k views

How to know the desired orientation of a quadcopter?

I am trying to simulate a quadcopter model on Simulink. I want to implement a PID controller for each of X,Y,Z and phi,theta, psi angles. PID gets the error, as input, which is to be minimized. For ...
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 ...
7
votes
5answers
8k views

Track a moving object

If this has already been answered, by all means please point me to it. I am in the process of building a quadcopter which I eventually plan to run autonomously by allowing it to track an object and ...
7
votes
3answers
40k 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 ...
7
votes
1answer
4k views

How do you calculate the moment of inertia of a Quadcopter?

I'm building a quadcopter for my final year project. I have a set of equations describing attitude and altitude but they involve $I_{xx}$, $I_{yy}$ and $I_{zz}$. None of the papers I have read ...
7
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2answers
4k views

how to implement and code inner and outer PD controllers for quadrotor for position tracking

The quadrotor system is multi-ODEs equations. The linearized model is usually used especially for position tracking, therefore one can determine the desired x-y positions based on the roll and pitch ...
7
votes
1answer
6k views

Why can't i use different ESCs together on a multirotor?

I'm working on a diy quadcopter build from scratch and have bought a 4pack ESC from Castel Creations.While i currently have my quad up and running(sort of), from what i've read on the various sources ...
6
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3answers
2k views

Questions about quadcopter and radio controller

I have not bought any parts yet, but I am making my own quadcopter. I have done the research and know all about the parts that I need, but many guides are sponsored and cost thousand(s) of euros/...
6
votes
3answers
343 views

Paradox: I can't use accelerometer measurements to obtain information about my states in a quadcopter?

I'm currently developing an EKF to estimate the position and orientation of a quadcopter. My state vector is comprised of 3D position, 3D velocity, 3 euler angles and the angular velocity vector. ...
6
votes
3answers
35k views

How to estimate yaw angle from tri-axis accelerometer and gyroscope

I would like to estimate the yaw angle from accelerometer and gyroscope data. For roll and pitch estimate I've used the following trigonometric equations: ...
6
votes
2answers
529 views

Explanation of Quadcopter Dynamics, Components and Control

I am about to build my own quadcopter from scratch. However i am having problem with understanding how it is possible to control the quadcopter without knowing the current rpm of the BLDC motors. ...
6
votes
3answers
1k views

Permission to fly UAVs

Okay, this might sound like a stupid question but, is there some sort of a permission in the US I might require to fly a quadcopter or a UAV for that matter? I couldn't find much help anywhere else.
6
votes
4answers
4k views

How frequently should a PID controller update?

I am developing a quadcopter platform on which will be extended over the next year. The project can be found on Github. Currently, we are using an Arduino Uno R3 as the flight management module. At ...
6
votes
3answers
709 views

Filtering angular velocity spikes of a cheap Gyroscope

I would like to filter angular velocity data from a "cheap" gyroscope (60$). These values are used as an input of a nonlinear controller in a quadcopter application. I am not interested in removing ...
6
votes
2answers
6k 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_{...
6
votes
1answer
824 views

Quadrotor control using ArduIMU

We are using ArduIMU (V3) as our Quadrotor's inertial measurement unit. (we have a separate board to control all motors, not with ArduIMU itself). As mentioned here , the output rate of this module ...
6
votes
2answers
4k views

Quadcopter PID Control: Is it possible to stabilize a quadcopter considering only angle measurements?

Good day, I am a student currently working on an autonomous quadcopter project, specifically the stabilization part as of now. I am using a tuned propeller system and I also already considered the ...
6
votes
3answers
430 views

PID Integration over not constant dt (∆time)

Is integration over not constant dt (∆time) a possible thing? Let's say you have a PID loop with differentiating frequency, can the integral part of it still work? (Assuming you know the dt from the ...
6
votes
1answer
682 views

What do quadcopter propeller specifications mean?

I'm trying to figure out the diameter of tri-blade propellers. I found a 7x3x4.5 blade, I'm trying to understand the measurements. Is the '7' the length of the blade giving the prop a 10.5" diameter? ...
6
votes
1answer
2k views

CC3D - Replacing RC emitter with an RPi

I am trying to control a quadcopter using te OpenPilot CC3D board and a RaspberryPi. The main idea was first replace the signals from the RC emitter to the CC3D RC receiver for an RPi connected ...
6
votes
2answers
10k views

Altitude hold for quadcopter with Accelerometer and Barometer

I wonder currently how to implement an altitude control for a quadcopter. I have atm just a barometer/GPS and an accelerometer. Barometer and GPS are relatively straight forward implemented, but not ...
5
votes
4answers
12k views

Stabilizing a quadcopter with optical flow

My quad copter can balance itself in the air using data collected from mpu6050. With the sonar sensor, it can hover at a specific height, but it moves on the horizontal plane in a random direction. ...
5
votes
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 ...
5
votes
2answers
524 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 ...
5
votes
3answers
10k 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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