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.

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  • 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

  • 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

  • thank you  sir for your great contribution 

  • 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

     

  • Thanks alot

  • Thanks a lot!! 

  • 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,

  • 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

  • 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

  • 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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