ELECINF344/381

Partie interactive du site pédagogique ELECINF344/ELECINF381 de Télécom ParisTech (occurrence 2011).

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Copterix: First flight

Today, I finalized the emission of the commands for the motors, from the Gumstix to the STM32 and their reception (check the validity of the packet and if it’s valid, update the commands sent to the motors).

Then, with Samuel, we added 0MQ exchanges on the Gumstix between Kalman and the PID and between the PID and the UART.

On the Gumstix, the program that handles the UART has two threads. One receives data from the sensors from the STM32 and sends it -thanks to 0MQ- to the program computing Kalman. The other one, receives the commands of the motors from the PID and sends them to the STM32.

 

Copterix IHM

Copterix's IHM

We also attached the PCBs on the copter:

PCB's on copter

We configured Kalman with the new axes and the offset of roll and pitch angles.

 

Finally, we all tested the PID. The algorithm seems okay, however, we’ll have to set each coefficient properly.

We’re trying  to control roll and pitch angles with a low thrust (in order to prevent any accident). Then, we’ll add a control on Z thanks to the Sharp sensor.

Sur le même sujet :

  1. Copterix : communication between Gumstix and STM32
  2. Copterix: motors control, 1st test
  3. Copterix : first moves
  4. Architecture logicielle de Copterix
  5. Copterix : mécanique & oscilloscope

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