Geek Camp 2014: Game Of Drones - Algorithms and hardware designs for Quadcopters
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Transcript of Geek Camp 2014: Game Of Drones - Algorithms and hardware designs for Quadcopters
Algorithms and hardware designs for Quadcopters
Shipeng Xu 18 Oct 2014
!github.com/BillHsu
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
ectio
n
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