user123456098
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Will this pseudocode work as a basis for a flight controller?
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5 votes

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 ...

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Need help for a quadcopter PID
2 votes

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. ...

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VFH (Vector Field Histogram+): Obtaining the Primary Polar Histogram
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2 votes

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 ...

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

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 ...

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Building a quadcopter, what motors, props and what are the calculations?
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2 votes

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 ...

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How to interpret the result of image rectification?
2 votes

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 ...

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Depth map with Raspberry Pi
1 votes

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 ...

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Cascaded PID in Quadcopter control
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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 ...

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view angle of distance sensor
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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 ...

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Dead Reckoning: Obtaining Position Estimation from Accelerometer Acceleration Integration
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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....

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Use data from gyroscope to calculate orientation
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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 = ...

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Ultrasonic Sensor's Lag (20Hz) effect on PID contol loop rate (150Hz)
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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 ...

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Establishing Data Transfer between two Raspberry Pi's using GPIO
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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

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Quadcopter program execution time optimization using Raspberry Pi by increasing i2c baudrate
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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 ...

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