This one is going to be quite short. Yesterday was the turn of the heading error algorithm to be tested. This heading error is calculated based on the heading the between two waypoints and heading measurement from the GPS module. This error will then be fed into a the roll controller as an input for roll command to reduce it to zero. But for the roll controller to work accordingly, the input must be right and within certain bounds.
Same as the previous ground test, waypoints were loaded unto the autopilot and serial debug data was monitored using my Asus TF101 Tablet. It's worth saying that I managed to get serial data output straight from the LINUX command line. So the command line integration with VIM is complete. So it takes approximately under 10sec to upload and start debugging data of the autopilot. Sweet!
Anyway, it was found that the GPS accuracy should be considered at 10-12m. Anything less than that and you'll be running for trouble. That is not a real concern as over a range of a few kilometres (goal for the UAV) that's an error of less than 1%. The heading error computation works well. I realised that I need to add extra functionality in the event a waypoint has been missed, to carry on tracking the next one. This is determined by a maximum distance error of 200m and the heading error being close to 175 degrees.\
With the heading error and waypoint tracking ground tests done, I turn my attention back to the roll and pitch controller that needs to be finalized. I've also started working on a speed controller to optimize the use motor for longer flight times.
See you soon!
Same as the previous ground test, waypoints were loaded unto the autopilot and serial debug data was monitored using my Asus TF101 Tablet. It's worth saying that I managed to get serial data output straight from the LINUX command line. So the command line integration with VIM is complete. So it takes approximately under 10sec to upload and start debugging data of the autopilot. Sweet!
Anyway, it was found that the GPS accuracy should be considered at 10-12m. Anything less than that and you'll be running for trouble. That is not a real concern as over a range of a few kilometres (goal for the UAV) that's an error of less than 1%. The heading error computation works well. I realised that I need to add extra functionality in the event a waypoint has been missed, to carry on tracking the next one. This is determined by a maximum distance error of 200m and the heading error being close to 175 degrees.\
With the heading error and waypoint tracking ground tests done, I turn my attention back to the roll and pitch controller that needs to be finalized. I've also started working on a speed controller to optimize the use motor for longer flight times.
See you soon!
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ReplyDeleteIt is without doubt that the Phantom Drone has renewed interest in the use of technology in social security. The New Phantom drone is exceptional in many ways indeed. The fpv transmitter will need to be improved as it will help the persons sending and receiving data. It is therefore of big importance that the drone autopilot keeps in mind that the signal sending should be full of clarity.
I have gone through your post . It is very informative. I would like to share this.
ReplyDeleteIt is without doubt that the Phantom Drone has renewed interest in the use of technology in social security. The New Phantom drone is exceptional in many ways indeed. The fpv transmitter will need to be improved as it will help the persons sending and receiving data. It is therefore of big importance that the drone autopilot keeps in mind that the signal sending should be full of clarity.