Overview
Dates: April 2020 to June 2020
This was a project I undertook during the summer of 2020. My brother and I wanted to get into FPV Drone Racing. My brother, who is in the Air Force, would be the pilot. I, as the roboticist, would be the engineer. I collected the parts, soldered up the wires, and configured BetaFlight software on the drone.
Future Projects
I want to try and implement my own autonomous flight controller on this drone, using a cascaded controller model:
Controller-DiagramWhich would obey the following dynamics map:
Dynamics-MapThe dynamics map above is based of of these equations of motion for the quadcopter:
![\begin{bmatrix} m {\bf 1}_3 & {\bf 0}_3 \\ {\bf 0}_3 & {\bf I}_3 \end{bmatrix} \begin{bmatrix} {\bf a} \\ \alpha \end{bmatrix} + \begin{bmatrix} {\omega \times m {\bf v}} \\ \omega \times {\bf I}_3\omega \end{bmatrix} = \begin{bmatrix} {\bf F}_e \\ \tau \end{bmatrix} = \begin{bmatrix} R_{eb}{\bf F}_b - m{\bf g}\\ [\tau_{\bf b_1}, \tau_{\bf b_2}, \tau_{\bf b_3}]^T \end{bmatrix}](https://s0.wp.com/latex.php?latex=%5Cbegin%7Bbmatrix%7D+++++m+%7B%5Cbf+1%7D_3+%26+%7B%5Cbf+0%7D_3+%5C%5C+++++%7B%5Cbf+0%7D_3+%26+%7B%5Cbf+I%7D_3++++++%5Cend%7Bbmatrix%7D+++++%5Cbegin%7Bbmatrix%7D+++++%7B%5Cbf+a%7D+%5C%5C+++++%5Calpha+++++%5Cend%7Bbmatrix%7D++++++%2B++++++%5Cbegin%7Bbmatrix%7D+++++%7B%5Comega++%5Ctimes+m+%7B%5Cbf+v%7D%7D+%5C%5C+++++%5Comega++%5Ctimes+%7B%5Cbf+I%7D_3%5Comega+++++%5Cend%7Bbmatrix%7D++++++%3D+++++%5Cbegin%7Bbmatrix%7D+++++%7B%5Cbf+F%7D_e+%5C%5C+++++%5Ctau+++++%5Cend%7Bbmatrix%7D+++++%3D+++++%5Cbegin%7Bbmatrix%7D+++++R_%7Beb%7D%7B%5Cbf+F%7D_b+-+m%7B%5Cbf+g%7D%5C%5C+++++%5B%5Ctau_%7B%5Cbf+b_1%7D%2C+%5Ctau_%7B%5Cbf+b_2%7D%2C+%5Ctau_%7B%5Cbf+b_3%7D%5D%5ET+++++%5Cend%7Bbmatrix%7D++&bg=ffffff&fg=000&s=2&c=20201002)