Please enable JavaScript.
Coggle requires JavaScript to display documents.
Drone from Scratch (Control Systems (Controller Design. See doc from alto…
Drone from Scratch
Control Systems
-
Controller Design. See doc from alto uni
Proportional Control
- Assumes a LDS
- u = -Kx. x is the state
Linear Quadratic Regular (LQR)
- This is a way to get good choice of Eigenvalues of stability
Pole-place
- See Algorithm by Tits and Yang TAC1996
- For a simplistic understanding see Section "Algorithm to get to u" of this blog
- See this github-repo for a reference implementation to control a pendulum-cart system in simulation
-
-
-
-
-
-
Trajectory Planning
-
Basic Minimum snap trajectory Generation
- Input: Waypoints
- Output: Splines
-
Hardware Design
Components Tests
-
-
-
-
Arduino Programming
Best is to look at Arduino examples.
My example collection is here. try TinkerCAD
- Serial Communication
- Digital Read/Write
- Analog Read/Write
-PWMs and Timers
- SPI
- Permanant Storage EEPROM and SDCard
-
-
-
TeenyTiny-v1. A addon board for Teensy with IMU, Pressure sensor and 3 more serial connections
-
-
PCB Designing
Components
- BMI088
- BMP
- Bosch Mag
- 3 serials
-
-