When you love drones as well as rovers you would want to have both of them together. Just by adding a set of wheels to my already existing PlutoX drone and with the help of some simple coding, I developed this hybrid drone.
What I wanted to do was to build a prototype that can fly and walk on the ground as well so in short a combination of drone and rover. That is when I decided to make my project using PlutoX controller which controls a drone and it also has an add on breakout board which i used to add extra functionalities like rover mode.
Due to small wheels it becomes difficult to keep the heading of the in straight direction for this I have used something called as AutoStabilization. AutoStabilization uses the drones magnetometer data and keeps the heading straight. Heading can only be changed using the phone(Controller).
Here's how i did it
In this project I decided to use PlutoX drone due to it’s hardware modularity. Adding most structure is easier. For my project I needed something that will hold the wheels so that I can use my drone as rover.
Using this wheel support I can easily clip the motors for rover onto the frame
Auto-Stabilization - Using smaller wheels in rover mode sometimes becomes a disadvantage as it gets difficult for the drone to move in a straight line/forward direction.
Auto-Stabilization uses the data from drones magnetometer and gets the yaw angle. Using this we can move the rover in straight line.