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.
Note: NextGEN gallery shortcode omitted during import.
Future Projects
I want to try and implement my own autonomous flight controller on this drone, using a cascaded controller model:
Which would obey the following dynamics map:
The dynamics map above is based of of these equations of motion for the quadcopter:
$latex \\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} &s=2 $