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PID position Controller for Arducopter with VICON Measurements!

Posted by Usman Qayyum on August 29, 2013 at 3:30pm

We have developed a PID position controller that can communicate with arducopter via 3DR radio. The position controller is running on the ground computer and transmitting the commands to hexacopter at 50HZ via mavlink protocol. The mavlink packet used during our test flights is "set_roll_pitch_yaw_thrust_send". We have tested the hovering flight for the developed controller. Please email me, if source code is required.

Thanks

Tags: arducopter, hexacopter, pid, position, vicon, controller
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Comments

  • Siddharth Patel May 30, 2016 at 9:49pm

    Very Impressive work! Just started on a project at my uni and trying to do something similar (building a high level non-linear controller for a tricopter setup) with MOCAP. Since, I'm in the initial phase, I was trying to control the Onboard MC (in my case, Pixhawk) wireleslly, using XBees. My question is, is the bandwidth enough? Are 3DR radios more useful than XBees? Also, if you can help me with the setup of XBees (as I tried quite a few times, the XBees 'talk' but Pixhawk wont communicate with the GCS. Any front on that would be helpful. 

    Thanks

    Sid

  • Jay Mills January 5, 2015 at 6:50pm

    Hi Usman,

    I am trying to set up a similar system using hopefully using your code, however i am using an optitrack system in place of the Vicon, do you know if there would be any problems in doing this instead??

    Also your code gets its position measurements using vicon_msg, does this data come directly from the Vicon tracker, or are you running a separate node to get this information?

    Any help would be greatly appreciated.

    ThanksJay

  • Zeta dekur January 23, 2014 at 9:15pm

    thank you  sir for your great contribution 

  • Usman Qayyum January 23, 2014 at 5:56pm

    Hi all,

    I have already posted the link of the position controller code (written in the python). I have also been requested by many people to upload the changes, I have made into the arducopter code. Here is the link which describe the functions i have added to the arducopter code https://docs.google.com/document/d/1FBzhlDKVSiE9XYZKUo4KbixbVH__qFT...

    good luck

    cheers

     

  • Mr.Cruis October 1, 2013 at 3:19am

    Thanks alot

  • Aldo Vargas October 1, 2013 at 2:28am

    Thanks a lot!! 

  • Usman Qayyum October 1, 2013 at 2:22am

    dear friends,

    please find the code of the "PID position controller for arducopter using VICON measurements" at : http://usmanqayyum.blogspot.com.au/2013/08/pid-position-controller-...

    Cheers,

  • Zeta dekur September 22, 2013 at 10:03am

    Hi Dr.Usman Qayyum l'm really intested in your code specially the part in how to send commands to control the UAV

    l will be happy if you can share it

    Thanks in advance

  • Usman Qayyum September 18, 2013 at 3:28pm

    Thanks,

    50Hz is enough as the inner stabilization loop of arducopter is running at that speed (increasing the ground control update rate won't help). As i was using 3DR radio (so it supports well for 50Hz communication). I will add the code, hopefully next week.

    many thanks

  • Aldo Vargas September 18, 2013 at 3:11am

    Seems excellent!! nicely done!!

    Was 50hz enough??? I'm doing something similar but I'm using multiwii, and no mavlink, im using the multiwii serial protocol and its a little slow when im testing with joystick... check here: http://aldux.net/rd/flying-computer

    I'm interested in seeing your code, care to share?? and if possible your presentation :) 

    Cheers!!

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