A cascaded PID controller is normally used when multiple sensors are available. In a normal PID controlled system, you have the measurement from your sensor and your setpoint (both used to calculate ...

I can think of two approaches to your problem. Use a stereo camera pair. You can use a stereo camera pair utilizing a camera with a 90 degree field of view while setting the appropriate baseline to ...

I have seen three implementations of PID controllers for quadcopters. Single PID control loop using only angle errors. (What I am currently using). I have heard people using this method with success. ...

The signals to the ESC's using PWM should be sent after the PID algo is done processing the errors. The output calculated from the PID is the PWM value to be sent to the ESC's to actuate the motors in ...

I have found out that my code works. It is just that most of the literature I have read uses Lidar or Sonar sensors for histogram updates. I had assumed that in the case of a stereo vision set-up, all ...

I am now able to get position from the accelerometer. Plot (Green - Acc, Blue -Vel, Red - Pos) I was able to get the propper values through disabling the leaky integrator (setting the factor from 0....

It is possible to stabilize a quadcopter using only angle measurements in a single loop pid. However it is easier to stabilize a quadcopter using a cascaded PID controller. Yes you are tuning more ...

I am currently using the Compute Module IO board for my undergraduate project and up to now, the best I can come up with is a refresh rate of 2Hz implemented using c++. Mr. David Barker at Argon ...

To get the orientation from each of the axes, you need to integrate the angular velocities with respect to time. Below is the code implementation of the said integration: //What we have dPitch = ...

The best solution is to use interrupts triggered by echo pins change of state. joan's pigpio example worked beautifully. Using multithreading did not give satisfactory results as there is still ...

The Raspberry Pi's UART interface can handle up to 4Mbps which fits my needs as I am sending a 480 element floating vector from Pi_1 to Pi_2

You've got most of the needed parts right however, since you are a begginner I would recommend you just buy ARF (Almost Ready to fly kits from HobbyKing or Amazon). An example is the DJI F450 kit with ...

It turns out, the default i2c baudrate becomes a bottle neck in reading the measurement data from the IMU's so increasing it from 100kbps to 400kbps was able to boost my execution frequency from 150Hz ...

In Stereo Vision, image rectification is used to "warp" (remap the pixels using the translation, rotation, fundamental matrices computed from camera calibration) the image to remove distortions ...