Algorithms and hardware designs for Quadcopters

Shipeng Xu 18 Oct 2014

!github.com/BillHsu

MiniQ

Size: 9cm x 9cmgithub.com/billhsu/MiniQ

~1 year to build it

MiniQ - Demo Video

Barometric Pressure!sensor

Accelerometer!+Gyroscope

Magnetometer

Transistors

STM32!(32bit ARM CPU) Bluetooth SPP!

(Serial Port Profile)

JTAG

Yaw Pitch Roll

Propeller rotation

Rotate

Move forward

Propeller installations

Stabilization

Attitude estimation• Demo

• WebSocket Server on Android

• “Rotation Vector Sensor” data

• WebSocket Client on browser side

• Receiving sensor data

• Render altitude with WebGL

Accelerometer

Gx

Gz G

Accelerometer data: acclX, acclY, acclZ

Demo - Accelerometer

Noise :(

Gyroscope• measuring angular velocity

Gyroscope data: gyroDataX, gyroDataY, gyroDataZ

integration

Demo - Gyroscope

Drifting :(

Attitude estimation

• Accelerometer

• Noise

• Gyroscope

• Drifting

Sensor Fusion

Sensor Fusion

Demo - Fusion

Rotation Vector Sensor in Android

• services/sensorservice/Fusion.cpp

Control rotor speed

Demo• Cannon.js

• A physics engine written in JavaScript.

• WebGL

PID Controller

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;

PID Demo

PID Controller

Sum up

MiniQReal-time attitude data 3D attitude visualisation

Seria

l por

t sel

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Quadcopter control

MiniQ

github.com/billhsu/AndroidAHRSView

Thank you:)Demos can be found@

https://github.com/billhsu/geekcamp2014/ Demo videos can be found @

https://www.youtube.com/watch?v=AYtps6Gd9b0&list=PL-0UH2MdcDCfnZyLsbi_pZnb6fK4Vb9an