Goal
The basic goal of this project is to build a system capable of stabilizing and controlling an RC aircraft in flight from only off-the-shelf components and basic software libraries.Purpose
The purpose of the project is two-fold. Primarily, it will serve as a learning experience for me to bridge the gap between the dynamics, controls, and estimation taught in academia and the required steps for full implementation in a real-world system. Second, it will serve as a testing platform for a variety of controls and estimation techniques as well as some more creative ideas that I'd like to test out in the future.
Current State
The hardware and on-board software are currently capable of reading the receiver and sensors, writing to the servos, and recording everything to an SD at 20Hz. Offline, data from flight has been used to develop a working navigation filter as well as a parameterized model of the aircraft. This model has been used to develop an LQR based control system.
Available Posts
Please see sidebar for posts on various elements of the system.
Github
Hope you enjoy following along!
No comments:
Post a Comment