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A quadcopter, also known as a quadrotor, is a multirotor helicopter that is lifted and propelled by four rotors.

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1answer
Last month I visited a quadrotor laboratory ($ 20m^2$ approx). They used both Optitrack and Vicon systems. However, they told me that Vicon cost 10 times as much as Optitrack. Considering that any sys …
asked Jul 15 '18 by galtor
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I don't understand what you mean by order. I have always seen the quadrotor modelled like this, for instance. For your question of how to represent the body-frame vectors into inertial frames, no qua …
answered May 25 '17 by galtor
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Have a look at investigating flight with toy helicopter
answered Mar 30 '16 by galtor
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2answers
I'm trying to find the transfer function of a quadrotor with two controller loops, following next structure: I know how to calculate the attitude stability controller, which relate rotor speed and d …
asked Apr 5 '16 by galtor
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In my own experience, it is not necessary Integral term in any of these loops. I got a fine PD tuning of both inner and outer loop. See for instance this paper, where I firstly tuned PD only with PSO. …
answered Mar 16 '16 by galtor
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The habitual way to do this is to have an attitude and position loop for the quadrotor, as in next picture. Attitude loop manages the quadrotor to achieve the desired angles (pitch, yaw, and roll). …
answered Apr 10 '16 by galtor
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1answer
A reviewer of the last paper I sent replied me that the it is very dangerous to update a PID with next kind of formula (paper is about quadrotor control): $$ K_p (t + 1) = K_p (t)+e(t) (μ_1 (Pe(t)) + …
asked May 12 '16 by galtor
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There's no need of different P gains in each rotor. Just calculate the needed gyro in each of them. Good luck.
answered Mar 21 '16 by galtor
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Currently I am performing my research on that, and in my case I decided to tune all the PIDs. Angles of the quadrotor tend to zero, while altitude controller tend to the objective height. That's habit …
answered Mar 9 '16 by galtor