Algorithms and hardware designs for quadcopters
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Algorithms and hardware designs for quadcopters. For NTU Open Source Society - TGIFHacks
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Algorithms and hardware designs for quadcopters
- 1. Core Algorithms and Hardware Design for Quadcopters Shipeng Xu 30 Jan 2015 ! GitHub.com/BillHsu
- 2. MiniQ Size: 9cm x 9cm github.com/billhsu/MiniQ ~1 year to build it
- 3. MiniQ - Demo Video
- 4. • Hardware • Components! • Schematic • Propeller Installation • Algorithm • Sensor Fusion • PID Controller
- 5. STM32! (32bit ARM CPU) Bluetooth SPP! (Serial Port Profile) JTAG Motor ! + Propeller
- 7. • Hardware • Components • Schematic! • Propeller Installation • Algorithm • Sensor Fusion • PID Controller
- 10. Power ME6206 large currents with a significantly small dropout voltage ME6206 voltage regulator
- 12. Bluetooth SPP
- 15. • Hardware • Components • Schematic • Propeller Installation! • Algorithm • Sensor Fusion • PID Controller
- 17. Rotate
- 18. Move forward
- 20. • Hardware • Components • Schematic • Propeller Installation • Algorithm! • Sensor Fusion • PID Controller
- 22. Attitude estimation Demo • Android Sensors • Sensor.TYPE_ACCELEROMETER • Sensor.TYPE_GYROSCOPE • Sensor.TYPE_ROTATION_VECTOR(Base line) • WebSocket Client on browser side • Receiving sensor data • Render altitude with WebGL
- 24. Accelerometer data: acclX, acclY, acclZ
- 26. Noise :(
- 27. Gyroscope • measuring angular velocity
- 28. Gyroscope data: gyroDataX, gyroDataY, gyroDataZ integration
- 29. Demo - Gyroscope
- 30. Drifting :(
- 31. Attitude estimation • Accelerometer • Noise • Gyroscope • Drifting
- 33. • Hardware • Components • Schematic • Propeller Installation • Algorithm • Sensor Fusion! • PID Controller
- 34. Sensor Fusion
- 35. Sensor Fusion
- 36. Demo - Fusion
- 39. Rotation Vector Sensor in Android • services/sensorservice/Fusion.cpp
- 40. • Hardware • Components • Schematic • Propeller Installation • Algorithm • Sensor Fusion • PID Controller
- 42. Demo • Cannon.js • A physics engine written in JavaScript. • WebGL
- 43. PID Controller
- 44. PID Controller • Proportional(the present error) • Thrust = Error * alpha; • Integral(accumulation of past errors) • integral = integral + error * dt; • Derivative(prediction of future errors) • derivative = (error - lastError) / dt;
- 45. PID Demo
- 46. PID Controller
- 47. Sum up
- 48. MiniQ Real-time attitude data 3D attitude visualisation Serialportselection Quadcopter control
- 50. Thanks:) • GitHub.com/BillHsu/MiniQ • Android Sensor Server • GitHub.com/BillHsu/SensorServer • WebGL demos: • GitHub.com/BillHsu/GeekCamp2014/ • BillHsu.x@gmail.com