Design, Build, Test, Iterate

Archive for October, 2011

Tricopter: gyro damping and PID control (fail)

I’ve been working on stabilization code for the tricopter using direction cosine matrices but haven’t yet gotten too far because the DCM updates too slowly. I must be doing something wrong. For now, I’ve got basic damping (basically D control) using low-pass-filtered gyro outputs and some PID control that needs adjustment. Actually that’s a misnomer […]

Test rig ideas for autonomous flying vehicles

The OSU Aerial Team uses a rectangular aluminum frame to constrain the movement of our bicopter while we develop our flight controller. While this works, it is a very unnatural way to limit the movements of a flying vehicle. The cage limits 3D motion such that almost any flight stability test goes awry because the […]