Custom Quadrotor Autopilot Development

Custom Quadrotor Autopilot Development
18 November 2015
www.wilselby.com/research/arducopter/
Wil Selby
The purpose of this project was to develop a basic autopilot utilizing the ArduCopter software libraries, an APM 2.5 board, and a 3DR Quad-C Frame. This video tutorial briefly covers the following topics:
-Quadrotor System Modeling describing the coordinate system used to develop the model and the derived non-linear equations of motion
-Model Estimation and Verification. This includes modeling the accelerometer and gyroscope, the motor system, and estimating the unknown model parameters using measurements from a Vicon motion capture system.
-Control System Design and Simulation describing the nested position, attitude, and angular rate PID control systems as well as the simulation of the autopilot based on the estimated system model.
-Autopilot Implementation using the ArduCopter libraries, and APM 2.5 board and a 3DR quadrotor frame.

[@kimbuntho2705]

Excuse me Mr., How can i implement the trajectory to the Simulink model ?

[@adeelehsan2019]

what file exactly did you modified to implement your controller ? and how did you implement your controller via mission planner or arduini IDE?

[@wilselby]

You can find all the info here: www.wilselby.com/research/arducopter/autopilot-implementation/

[@adeelehsan2019]

@@wilselby i have checked everything, it doesn't tell whether your burn the APM or upload file. Can you please refer to some specific page?

[@wilselby]

@@adeelehsan2019 ah sorry, just upload the file github.com/wilselby/CustomFC/blob/master/CustomFC.ino to the arduino

[@adeelehsan2019]

@@wilselby Thanks sir! I appreciate it!

[@Patrick-wn6uj]

@@adeelehsan2019 hey bro did work for you ? would you please share your circuit diagram

[@WINCHOism]

brutal

[@Grex0]

Hi Wil,
I'm currently working on a similar project for my msc thesis. there's any way to get in touch with you via PM?

[@wilselby]

+Grex0 Feel free to email me accounts [at] wilselby [dot] com.