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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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I have to code this model, which library and how can I code this using Python

I have this research paper, Modeling and PD control of a quadrotor VTOL vehicle. I have understood the paper well. Now I want to implement this paper using Python - how can this be done?
Kartik Gupta's user avatar
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1 answer
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Difference between RotorS/CrayS in classic Gazebo vs Ignition-Gazebo(based on RotorS) for multi-rotors? Difference in functionality?

I have been looking to simulate Multi-rotors(mostly quadrotors) in Gazebo. I saw that RotorS framework does it in classic Gazebo (Gazebo 11) and new Gazebo (Ignition-Gazebo) is based on RotorS/CrazyS. ...
vbalaji21's user avatar
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9 views

Smartphone apps for accessing Quadcopter Drones

Is it feasible to design and develop Smartphones apps which will access, control & monitor quadcopter drones operating at 2.4 GHz & 9.8 GHz wireless frequencies? Is it feasible to design & ...
Prashant Akerkar's user avatar
1 vote
1 answer
20 views

Possibility of Co-simulation between Ignition Gazebo and Matlab/Simulink?

I would like to know this Co-simulation (Sending and reading commands from Simulink and the model is present in Ignition Gazebo) possiblity between Matlab/Simulink and new Ignition Gazebo. If anyone ...
vbalaji21's user avatar
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Подключение дополнительных камер к образу который использует ROS

Всем привет. В ROS не разбираюсь. Столкнулся с проблемой подключения дополнительных камер на raspberry pi 4 с использованием образа clover_v0.23.img. Моя зада состоит в том, чтобы подключить камеру ...
serpent's user avatar
2 votes
2 answers
38 views

Is it possible to modify or extend pre-existing Gazebo Sim plugins?

Question Is it possible to modify or extend a pre-existing Gazebo Sim (Garden) plugin, such as the gz-sim-multicopter-control-system plugin to publish the ...
CodeAnomaly's user avatar
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2 answers
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acceleration input to quadcopter

I am new to quadcopters. My physics/mechanics has always been weak. I need help to clear this doubt. I am working on a project where i need to control my quadcopter by giving it acceleration input in ...
V Adarsh's user avatar
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22 views

Wind effect on a drone: formulation

When the drone flies in the open space the wind acting on it creates aerodynamic drag force and the aerodynamic torque. So when I want to simulate the drone flight using the state space equation do we ...
Alisa976's user avatar
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1 answer
57 views

Already higher than takeoff altitude(not descending)

I have the following Python code that arms and take off the UAV using pymavlink. I am using the px4 flight stake ...
Mubashir's user avatar
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27 views

What is the kinematic model of a quadrotor/quadcoptor with an X configuration?

I would like to know what is the kinematic model of a quadcopter in X-configuration. Basically I want the relation mapping rotor speed to the body twist (or body frame velocity). ...
Shravan's user avatar
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Modelling thrust on quadcopter in simulink

I want to model aerodynamic forces such as thrust on all motors of quadcopter in simulink.But equations for thrust involves density of air , but then we have to include model air in simulink . So what ...
pranjal verma's user avatar
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Wind service in Gazebo

There seems to be a few hits about wind in Gazebo, but I believe none of them go where I want it to go. This post is a last resort type of effort before going into this problem. Hopefully I'll find ...
Ricardo Halfeld's user avatar
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1 answer
44 views

Crazyflie: Connecting, logging and parameters-->Add logging config

I would like to define stateEstimate.vx, stateEstimate.vy, and stateEstimate.vz variables to ...
nejattukenmez's user avatar
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1 answer
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/cmdVel topic: cmdVel(roll, pitch, yawrate, thrust) for crazyflie

We are working on Crazyflie 2.1 to implement our controller by utilizing ROS2. We used the following repository on GitHub to make it possible. crazyflie experimental We'd like to access ...
nejattukenmez's user avatar
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1 answer
31 views

Mambo parrot /tello control propeller speeds

From my understanding, for parrot mambo and tello drones, we control forward-backward, up-dow, left-right, and yaw speeds (in m/s and deg/s). But the low level control is control the 4 propeller ...
Jose Daniel's user avatar
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150 views

How to set namespace with ROS2 Foxy for custom Gazebo 11 plugin for multiple drones without getting cross-talk between Gazebo models?

Currently running ROS2 Foxy (with Python) with Gazebo 11.11.0 I currently have a custom force plugin to move my drone model in Gazebo. I am trying to apply a positive force at the location of each ...
cnchano's user avatar
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3 answers
1k views

Designing S-Curve velocity profile for given Distance

I'm trying to create a high-level API for controlling a drone, where I tell it how far I want it to go (eg. moveForward(10)). The SDK allows me to give the drone an ...
dkapur17's user avatar
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1 answer
256 views

Cascaded PID controller implementation

For a project I am building and programming my own flight controller. I have seen the implementation of a single loop PID controller. But after doing some more research I've found that a cascading PID ...
Xander van den Berg's user avatar
0 votes
1 answer
96 views

How to find the camera matrix and distortion matrix from the given data

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Amit's user avatar
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1 vote
0 answers
48 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 ...
Brien Crean's user avatar
2 votes
1 answer
349 views

What is the consquence of Gimbal lock?

I'm learning about Gimbal lock and I understand the reason why that happened. But I don't understand why that is a big deal because it only affect this rotation. After this rotation finished, we have ...
Benasking7124's user avatar
1 vote
0 answers
21 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 ...
tadm123's user avatar
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287 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 ...
Kaapeine's user avatar
0 votes
1 answer
260 views

Why are Euler angles used for drones

I know this question is asked before, but the reason why was still not clear to me. If you've a 6-DOF IMU, the gyroscope measures is degrees/s or radian/s. Why do we want to convert the body rates to ...
Xander van den berg's user avatar
0 votes
1 answer
69 views

Alternatives to Mount the Motors on Quadcopter

We are doing a quadcopter project and we are at the stage of building the vehicle. However due to lack of attention, the screw holes of the Brushless Motors (Emax CF2822) we bought do not align with ...
kucar's user avatar
  • 328
0 votes
1 answer
55 views

Can an Xbee transceiver module be used for controlling a stable Quadcopter?

I would like to use an Arduino Nano IOT as a flight controller and connect this to a Xbee transceiver module for control. If the Xbee module was set up so that for each packet transmission it included ...
Matthew Haywood's user avatar
0 votes
1 answer
221 views

Inverse kinematics for 2DOF robotic arm in 3D

i am trying to find the inverse kinematics for quadrotor with 2Dof robotic arm, which has first joint rotation axis perpendicular with second joint. So, for the inverse kinematics i use two equations ...
sagar bhatta's user avatar
0 votes
1 answer
48 views

Is ADS-B receiver used in PixhawkCube ADS-B out or ADS-B In?

The new carrier boards for Pixhawk Cube seems to be using a 1090MHz ADS-B receiver from uAvionix. This receives location information from nearby aircraft (airplanes, gliders, helicopters, etc.), but ...
Hossein's user avatar
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1 vote
1 answer
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Is VIO a good solution for autonomous drone navigation at higher altiutues (200+ms)?

When it comes in indoor scenarios, VIOs may provide good performance, but when it comes to outdoor environments and high altitudes without proper GPS coverage/stability, are current VIOs capable of ...
Hossein's user avatar
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1 vote
1 answer
981 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 ...
robo1996's user avatar
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0 answers
38 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 ...
Hamzalihi's user avatar
0 votes
2 answers
1k views

How do I find the transfer function for my quadcopter altitude system?

This is not so much of a how but if I am right so far. I am looking at the z-axis now only. The linearized equation of motion for the thrust in the z-direction is: $$ T=m\cdot \ddot{z}+mg, $$ where $m$...
Hamzalihi's user avatar
0 votes
1 answer
2k views

Air Resistance Drag Force Calculation For Quadcopter

Hello there. Hope you are all doing well. I have created a dynamic quadcopter model on Simulink and designed a controller for it. So far, everything is going well. However, since I am going to be ...
kucar's user avatar
  • 328
0 votes
1 answer
94 views

Mapping Joystick Inputs to Quadcopter

hope you are all doing well. We are doing a project where a quadcopter is controlled by an ordinary joystick. We have constructed the Control Algorithm and the joystick to move the quadcopter in ...
kucar's user avatar
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0 votes
1 answer
30 views

Why does the quadcopter become unstable after turning?

I'm trying to write a simple test MAVROS node where my quadrotor is expected to go in a straight line and then have 180-degree turn and come back and land on where ...
Hossein's user avatar
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0 votes
1 answer
598 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 ...
PX4Traveler's user avatar
0 votes
1 answer
731 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 ...
Keshav Sharma's user avatar
1 vote
1 answer
102 views

What devices can I use as a flight controller in a Quadcopter project? [closed]

I know that the flight controller is the heart of the quadcopter and a device which has to be considered greatly when building a quadcopter project. In regards to this quadcopter project that I'm ...
Mubashir Hussain's user avatar
1 vote
1 answer
73 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 ...
Karan Katiyar's user avatar
1 vote
0 answers
46 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 ...
Mssm's user avatar
  • 147
1 vote
1 answer
221 views

Inertial frame's angular velocity expression

I'm following a robotics course on coursera which talks about aerial robotics and more specifically quadrotors. I'm trying to understand the logic behind the relationship between the angular velocity ...
Mssm's user avatar
  • 147
2 votes
1 answer
315 views

Inertial frame VS Body-fixed frame momentum correction factor

I've recently enrolled in a Coursera aerial robotics course and i'm trying to understand how the rate of change of the angular momentum is computed from the inertia frame to the body-fixed frame. ...
Mssm's user avatar
  • 147
0 votes
2 answers
824 views

Quadrotor dynamics: How is torque created

I'm a software engineer and I've recently engaged into Robotics field. I've started by a course on Coursera which talks about Aerial robotics and thus quad-rotors. I'm trying to understand how quad-...
Mssm's user avatar
  • 147
0 votes
1 answer
46 views

When is the Quadcopter out of the control?

Assuming ideal environment/hardware flying conditions, is it possible that the autopilot loses the control of the quadcopter? What is the maximum tilt in roll and pitch that is allowed for the ...
Heba's user avatar
  • 101
0 votes
1 answer
52 views

Quadcopter descends when rolled or pitched

I'm currently working on a quadcopter using f450 frame and YMF32 code. I was able to successfully build the quadcopter and It flies without having any vibrations or wobbles. Also, I tuned the PID ...
Avishka Dambawinna's user avatar
0 votes
2 answers
306 views

Generate a Trajectory from GPS coordinates

How would I generate a trajectory (e.g. minimum snap/jerk/acceleration) for a quad rotor between GPS coordinates? In all the examples that I have seen, they assume that the x,y positions are in meters ...
Brien Crean's user avatar
0 votes
1 answer
42 views

How to make a quadcopter hover when tilted forward or backward?

is making a quadcopter hover forwards or backwards possible ? The only two ways I can think of making this happen is by using motors to move the rotors in such a way that they are always vertical and ...
Mr. Frog's user avatar
1 vote
3 answers
366 views

Quadcopter PID Controller for distance

I am trying to use a PID controller to stop a quadcopter at a specific location while travelling horizontally, however currently it overshoots/undershoots depending on the max velocity. I have tried ...
Brien Crean's user avatar
0 votes
1 answer
216 views

Imaginary part in result of inverse laplace transform

I am working with a system(closed-loop feedback control) that has a transfer function like this F = 20*(s+5)/(s^4+13.5s^3+41s^2+80*s+100) this one is in the s-domain but for the response analysis, I ...
ShivamPR21's user avatar
2 votes
1 answer
131 views

What flight firmware stack is most common in aerial robotics research environments?

I'm considering Aero-Astro grad school and am looking into acquiring a drone hardware platform to implement GNC/ PNT/ autonomy papers like those I might see from, e.g., the Navigation and Autonomous ...
Dragonsheep's user avatar

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