Hello everyone, i´m new in this community and i wanted to request some help with an altitude control that i am currently working at.
First of all i have to tell you that i and a classmate were currently working in a flight controller for a quadcopter in our final project on the University.
We have solved the attitude problem using the Madgwick algorithm and a PID control directly aplied in the quaternion estimated.
But have problems with the altitude estimate with a barometer and the control of altitude on the quadcopter.
The board that we are using is the CRIUS AOIPV 2.0.
The estimate of altitude is around 20cm with the estimator.
This is the code for the altitude estimation
https://github.com/Tinkerforge/imu-barometer-fusion/blob/master/README.rst
This is the paper for the quaternion control
http://www.nt.ntnu.no/users/skoge/prost/proceedings/ecc-2013/data/papers/0927.pdf.
This is the video of the controller working on the quadcopter.
We want to know if is better to control velocity or position to obtain altitude hold and how to estimate both parameters with the baro and the accelerometer.
PD: I do not understand very well how the arducopter deals with that.
The video have a PID control of altitude(position not velocity) with an ultrasonic sensor.
We are working directly with the Arduino 1.0.6 Plataform.
We will be grateful for any answer =).
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