Meeting Details

• Location: Lobby Uni Tower
• Supervisor: ssm
• Protocol: fma
• Attendees:
  • apo
  • fma
  • lan
  • lpe
  • ssm
• Start: 10:00
• End: 12:00

Agenda

Aggressive PID-Controller

The first flight in a larger free area ends with an emergency stop via the computer. The quadcopter pushes to it's side hardly. After some the problem is identified:

The longer some difference between the actual and the intended angle persists, the harder the I-value of the PID-Controller tries to correct it. With starting the Quadcopter's Arduino on a not 100% flat surface and waiting some time before flight, even a small difference of 0.4 degrees can cause a strong counteraction when lifting off. 

As a solution, with every start of the motors all controller values are being reset now. This way we are able to start and land and start again without resetting the Arduino every time.

Adjusting the controller values

The next phase is finding the optimal values for all P, I and D controllers. There are some rules about how to proceed the best way. For further informations there will be some information in the future.

Result of this phase are values for our controller with which we can reach a quite steady flight. For steering against any drifting the keyboard on the computer is used. 

[Video coming]

What comes next?

Next tasks are:

• Evaluate if it is possible to hold the position by processing the acceleration values of the accelerometer. 
  Currently we are only able to fly remote controlled.
• Wire all the components for the proximity sensors and the dedicated Arduino Nano.
• Finish the software for the Arduino Nano and the Arduino Mega to get all the sensor values.
• Try to reach a wall collision avoidance