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Flight controller for an autonomous quadcopter drone.

License: MIT License

C 4.26% C++ 95.74%

quadcopter flight-controller embedded-c imu uav drone hardware algorithm arduino pid-control

quadcopter-drone-flight-control's Introduction

Autonomous Drone Flight Control

Project Overview
Roadmap
Hardware
Electronic Schematics
Software
Control System

Project Overview

...

Drone Configuration

          Front
     cw  (1) (2)  ccw      x
           \ /           z ↑
            X             \|
           / \             +----→ y
    ccw  (4) (3)  cw

Channel	Command
1	yaw
2	pitch
3	throttle
4	roll
5	vra

Roadmap

1. Non-autonomous Drone

Define basic data structures and workflow
pcb design
Implement Tx --> Rx communication using interrups
Map commands <Throttle, Roll, Pitch, Yaw> into motor signals <m1, m2, m3, m4>
Signal smoothening
Implement a safe arm/disarm routine
Testing

2. Hovering

Implement an IMU class for MPU9250
Implement a PID class and algorithm
Implement a gyro-based hovering maneuver
Testing
Implement a real time Kalman Filter Algorithm
Implement a full hovering maneuver
Testing

3. Other Autonomous Maneuver

Autonomous take-off and landing

Hardware

Frame: S500 glass fiber 480mm
Motors: Emax 2216 810kv
Propellers: Emax 1045
ESC: HAKRC 35A
MCU: ATmega 328 (Arduino Nano)
IMU: mpu9250 + barometer (10dof sensor)
Lipo battery: 3S 5000mAh
Radio Tx: Flysky FS-i6X
Radio Rx: Flysky X6B

Electronic schematics

Pin Mapping

Board Pin	Port Pin	Signal	Hardware
A4	PC4	SDA	IMU
A5	PC5	SCL	IMU
D3	PD3	M4	Motor 4
D4	PD4	Ch4	Radio Rx
D5	PD5	Ch3	Radio Rx
D6	PD6	Ch2	Radio Rx
D7	PD7	Ch1	Radio Rx
D9	PB1	M3	Motor 3
D10	PB2	M2	Motor 2
D11	PB3	M1	Motor 1
D12	PB4	Ch5	Radio Rx

                       ATmega328
                    +--------------+           
                    | D13      D12 |<-------------|Ch5| (Radio Rx)
                    | 3.3v     D11 |----> (M1)
                    | Ref      D10 |----> (M2)
                    | A0        D9 |----> (M3)
                    | A1        D8 |
                    | A2        D7 |<-------------|Ch1| (Radio Rx)
                    | A3        D6 |<-------------|Ch2| (Radio Rx)
(MPU9250) |SDA|---->| A4        D5 |<-------------|Ch3| (Radio Rx)
(MPU9250) |SCL|---->| A5        D4 |<-------------|Ch4| (Radio Rx)
                    | A6        D3 |----> (M4)
                    | A7        D2 |
                    | 5v       GND |
                    | RST      RST |
           GND -----| GND       Rx |
          3.3v -----| VIN       Tx |
                    +--------------+

Power Busses

                                 +---------+        +-----------+
                                 | MPU9250 |        | Brushless |
                                 +---+--+--+        |  Motors   |
                                     |  |           +---+--+----+
+======+                             |  |               |  |
|      |-------------- GND ----------+--|----+----------+  |
| LIPO |----(buck)---- 3.3v ------------+    |             |
|  3S  |----(buck)---- 7.3v -----------------|--+          |
|      |------------ 11.1/12.6v -------------|--|----------+
+======+                                     |  |  
                                             |  |   
                                         +---+--+---+ 
                                         | Radio Rx | 
                                         +----------+

Software

Language: C/C++, Matlab
IDE: Visual Studio Code w\ PlatformIO
Additional libs: Arduino.h, Servo.h

Repository structure

.
├── include
│   ├── atmega328_pin_mapping.h
│   └── README
├── lib
│   ├── drone
│   │   ├── drone.cpp
│   │   └── drone.h
│   ├── MPU9250
│   │   ├── MPU9250.cpp
│   │   └── MPU9250.h
│   ├── PID
│   │   ├── PID.cpp
│   │   └── PID.h
│   └── README
├── platformio.ini
├── README.md
├── src
│   └── main.cpp
└── test
    └── README

Data Structures

Drone:

typedef struct drone{
    uint8_t state;

    int16_t av_throttle;
    int16_t av_roll;
    int16_t av_pitch;
    int16_t av_yaw;

    int16_t throttle[N];
    int16_t roll[N];
    int16_t pitch[N];
    int16_t yaw[N];
    int16_t ch5;

    float roll_coeff;
    float pitch_coeff;
    float yaw_coeff;

    uint16_t m1;
    uint16_t m2;
    uint16_t m3;
    uint16_t m4;

    IMU* imu;   // imu data for control
    PID* pid_x; // pid control on gyro_x
    PID* pid_y; // pid control on gyro_y
} drone;

PID controller:

typedef struct PID{
    float setpoint;
    float Kp, Ki, Kd;
    float dt;
    float err[2];
    float output[2];
    float P, I, D;
    float integral;
    float min, max;
}PID;