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These are markers for a visual Motion Capture system. Buy some markers here Most MoCap systems work by setting up multiple cameras with strong IR-Flashes and IR-Cameras and the surface of the balls are optimized to reflect the specific wavelength. The cameras then almost only see the markers and can use triangulation to compute their position. As at least ...


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I encountered the same puzzle. I had a clue at the beginning that the gravity information is contained within accelerometer measurements due to aerodynamic drag. Then I found a paper The True Role of Accelerometer Feedback in Quadrotor Control, which had proved the idea. My simulation also revealed the process of stabilization. As long as a quadcopter ...


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Controllers, be it for quadrotors or industrial manipulators or any electromechanical system for that matter, are implemented as hierarchies. Controllers that directly drive the hardware are low-level controllers whereas those that implement logical decision-making are high-level controllers. The terms "high" and "low" are relative. Nested controllers ensure ...


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Not at all. It is about efficiency, agility, and maneuverability of your drone. Just like wheels on a car, the size of the propeller needs to be matched to the rest of the power system. For example, putting 3” props on a motor designed for 5” propellers will result in extremely high RPM and power draw and will create very little thrust. Likewise, putting ...


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There are actually two sources of yaw torque in a quadrotor and a multirotor in general. The first is the torque from an imbalance between the torque generated by the CW spinning rotors and that generated by the CCW spinning rotors. This is entirely a function of friction in the motor bearings and aerodynamic drag. The second is torque arising from the ...


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1) Before I go into filter design itself, I want to know do I just use the raw data from sensor ' as it is ' and feed it into filter system ? Or Do i need to some sort of preprocessing on data for filter to use ? Both happens. In my applications(Visual-Inertial SLAM) we tend to just use the raw measurements. Note that the fusion algorithm(Kalman filters or ...


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there seems to be no mature drone platform focused on the NN research personally I suggest using a drone combines a NUC, TX2 for example the drone works as a flying platform providing control APIs, and a gimble system if possible the vision system can be constructed by NUC, you can put your own camera on it and do your NN research for this design, you ...


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I have never used it ,because I have always dealt with custom simulators but I know others have had success with the RotorS simulator. Answers to your questions: 1) Can I modify these models so that it can simulate my drone? Is it enough to change the geometry, mass and inertias to make it work? Kind of. You could just take one of their existing models,...


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Increasing the number of blades in the props increases the amount of thrust generated but at the cost of efficiency i.e. more current will be drawn as we increase the number of blades. This is due to addition of weight and also because of increased drag, as each blade will have to cut through the turbulent air from more preceding blades which will result ...


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Motor and blades must be selected on the basis of amount of thrust required. Estimation of thrust of a motor depends on battery voltage, prop size and motor choice. Changing one of these will change the amount of thrust generated. Motors must be purchased from the manufacturers providing thrust tables that shows how many grams of thrust will be generated ...


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You need not write code unless you really want to (i would strongly advise against it), all platforms related to APM/PIXHAWK will do so, are opensource and proven to work, essentially you can get the information about these things here: https://ardupilot.org/ https://github.com/ArduPilot https://px4.io/ https://github.com/PX4/Firmware Now you only need to ...


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You are correct, you do not really need an accelerometer for computing optical flow - just the angular velocities along with an altitude estimate will be sufficient for computing velocities in global, metric units. For example, the commercially available PX4Flow optical camera does not contain an accelerometer, only a gyroscope. But in the case of the ...


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Let me assist you and point you in the correct directions: the manual for your Racestar FC and ESC is here (it is in picture form): https://www.racerstar.com/racerstar-starf4s-30a-blheli_s-dshot-4-in-1-esc-aio-f4-osd-flight-controller-w-or-bec-current-sensor-p-195.html What you want to do is use the PPM out from the Flysky iA6B, connect it to the PPM in of ...


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Dual power and ground pins are on the power module so that two other modules could be powered without having to split the power cables. Also, if the attached module draws significant current from the power module, then all of the power pins could be used to keep connector contacts from being overloaded. As far as the schematic, you need to study the ...


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Here here are a couple of papers that solve the problem you are interested in. Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3) by Taeyoung Lee, Melvin Leok and N. Harris McClamroch Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments by Charles Richter, Adam Bry, and Nicholas Roy


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