Building Quadcopter Software from Scratch – Theory

Microelectronic (either some Ordains compatible board, Teensy, or any us that provide suit your needs) TX system (more on the cheap side, you could use bout xx or Turning car with a achiever that supports fondness output) more on that later Step 2. Sensors Its time for you to learn what accelerometer and gyro actually do. (yes really) accelerometer measures g-force, its great to determinate dispose and roll cant overs, however accelerometers argon acceptable to vibrations and shock Graph displaying accelerometer angle (shaking in hand) gyroscope gyroscope measures acceleration rate (which is perfect for quadruplets), gyroscopes arent affected by vibrations however gyroscopes prevail to drift over time (more on this later) Graph displaying gyroscope angle drifting over timeFrom the block diagram on put across, you could probably contrive guessed that getting reliable data from those 2 sensors wont be so easy, just worry not. Step 3. Kinematics Part where all the sensor m agic happen, I exit only cover complementary filter here (as it is the hotshot that I am using and its the most simple one to down in code / also rather simple to explain). Right promptly we have raw gyroscope data and raw accelerometer data on our hand, but neither one of these sensor outputs give us immaculate enough estimate to be used in our stabilization algorithm.What we will do, is combine cell and gyro outputs via complementary filter. Output from our kinematics will own a strongly suppressed noise from accelerometer and also gyro tint 4. First particoloured First multicolour comptroller, from the diagram on top you can see that our first PIED controller will record output from our pilot as setting and kinematics (containing received estimation of yaw, pitch and roll angles) as input. Output from our first PIED controller will contain = angle desired by pilot +- current kinematics angle, this acts deal an accelerate for second PIED.In this case accelerate meane r, that value from our first PIED controller will determinate how fast do we want to countervail for the current stabilization error. Step 5. second PIED Second PIED controller takes the accelerate from first PIED as setting and current gyroscope output (gyro Rate) as input. Resulting output from second PIED controller is the decimal value representing force that has to be applied to each of the axis vertebra to correct for the stabilization error. In our case this force is generated by revolve propellers, which size we can control by adjusting speed of the rotating props.