Flight Controller and Ground Station Softwareauto mode where mission will just continue) ... • GCS...
Transcript of Flight Controller and Ground Station Softwareauto mode where mission will just continue) ... • GCS...
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D AS L dynamic and active systems lab
Flight Controller and Ground Station Software
Michael W.
Shafer
Gabriel
Vega
Kellan
Rothfus
Merriam Powell Biennial Conference
Flagstaff, AZ
11 September 2017
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D AS L dynamic and active systems lab
Flight Modes vs Flight Plans
Flight Modes
• Determines flight behavior
of copter and extent of
operator control
• 14 built in flight modes
• Can be switched during
flight
Flight Plans
• Applicable in the auto flight
mode
• Pre-determined before
takeoff and pre-loaded onto
copter
• Generated with GCS user
interface using interactive
map
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D AS L dynamic and active systems lab
Flight Modes: Stabilize
• Most commonly used flight mode
• Pilot has control of vehicle’s altitude, pitch, roll and yaw
• Throttle is adjusted based on title angle of the vehicle
– Increased vehicle tilt increases throttle sent to vehicle
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http://ardupilot.org/copter/docs/stabilize-mode.html
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D AS L dynamic and active systems lab
Flight Modes: Stabilize
• When pilot releases control of pitch or roll, vehicle
automatically levels itself with respect to horizon
• When pilot releases yaw vehicle maintains its heading
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http://ardupilot.org/copter/docs/stabilize-mode.html
Pilot Directional Control Automatic Stabilization
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D AS L dynamic and active systems lab
Flight Modes: Loiter
• Mode used to help automatically maintain an operator
determined vehicle altitude
• Horizontal location can be determined by pilot input, but
vehicle will maintain positon once roll and pitch control sticks
are released
• Altitude controlled by manual input
– Vehicle will maintain altitude if throttle input is unchanged
• Vehicle’s yaw can be controlled by pilot
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http://ardupilot.org/copter/docs/loiter-mode.html#loiter-mode
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D AS L dynamic and active systems lab
Flight Modes
Auto
• Begins the pre-programmed autonomous flight
• Allows manual yaw control but all other parameters are
locked
• Requires GPS signal
Land
• Brings the copter straight down at it’s current location
• Usually used as a manual emergency land
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http://ardupilot.org/copter/docs/flight-modes.html
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D AS L dynamic and active systems lab
Flight Modes
RTL (Return-to Launch)
• Automatically returns the vehicle to the take-off location and
lands the vehicle
• Requires GPS signal
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http://ardupilot.org/copter/docs/flight-modes.html
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D AS L dynamic and active systems lab
Failsafes
• Radio Failsafe: vehicle will return to launch if lost connection
occurs during flight
• Ground Control Station Failsafe: vehicle will return to launch
if lost connection occurs during flight (unless vehicle is in
auto mode where mission will just continue)
• Software arming mechanism prohibits motors from operating
until internal vehicle parameters are verified and operator
manuals arms copter
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http://ardupilot.org/copter/docs/failsafe-landing-page.html
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D AS L dynamic and active systems lab
Failsafe
• Manual Failsafe
– Easily able to change into Land or RTL flight mode
– Ability to take manual control of the vehicle
– Switch on copter must be pressed before motors will arm
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Switch to change flight modes
Necessary throttle location for arming
Image from: http://store.jdrones.com/v/vspfiles/photos/elepx2sw01-2.jpg
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D AS L dynamic and active systems lab
Ground Control Station: Overview
• GCS used: Mission Planner
• Software interface that communicates with the vehicle over
915 MHz wireless telemetry
• System showcases real-time data from vehicle and provides
interface to adjust vehicle parameters
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D AS L dynamic and active systems lab
Ground Control Station: Overview
• Allows user to define autonomous flight plans and calibrate
hardware
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D AS L dynamic and active systems lab
Ground Control Station: Heads-Up-Display
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http://ardupilot.org/planner/docs/mission-planner-ground-control-station.html
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D AS L dynamic and active systems lab
Acknowledgments
• This work was supported by NSF Award 1556417
• Collaborators Paul Flikkema and Carol Chambers
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D AS L dynamic and active systems lab 14
QUESTIONS?