Drone Flight Stack Components and Control Principles
Explore the world of drone components, focusing on the flight stack - the UAV software responsible for real-time responses to sensor data. Discover examples of flight stack platforms like Raspberry Pis and Beagleboards, and learn about open-loop, closed-loop, and hybrid control architectures employed in UAVs, including the common PID controller. Dive into the differences between open and closed-loop control mechanisms and understand their impact on UAV behavior.
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Presentation Transcript
WORLD OF DRONE Drone Components: Flight Stack (Autopilot Software) 1
Flight Stack UAV software called the flight stack or autopilot. UAVs are real-time systems that require rapid response to changing sensor data. 2
Flight Stack Examples include RaspberryPis, Beagleboards, etc. shielded with NavIO, PXFMini, etc. Or designed from scratch such as Nuttx, preemptive-RT Linux, Xenomai, Orocos-Robot Operating System or DDS-ROS 2.0. 3
Loop Principles UAVs employ open-loop, closed- loop or hybrid control architectures. 4
Open Loop It provides a positive control signal (faster, slower, left, right, up, down) without incorporating feedback from sensor data. 5
Closed Loop It incorporates sensor feedback to adjust behavior (reduce speed to reflect tailwind, move to altitude 300 feet). 6
Closed Loop The PID controller is common. Sometimes, feed forward is employed, transferring the need to close the loop further. 7
Closed Loop Typical flight-control loops for a multirotor 8
