Rolling Spider

This coursework project is one of key part of ME231B (Experimential Advanced Control Design - Spring 2018). The main framework of this project is based on Rolling Spider software package developed by Parrot https://github.com/Parrot-Developers/RollingSpiderEdu, where we can adjust controller, do fancy realtime experiments without too many consideration of the framework.

Framework Description and Compile tools

The embedded code is generated by c/c++ auto generator in Matlab. The main drone simulator is written in the file:

Code folder

RollingSpider/Allfiles/MIT_MatlabToolbox/trunk/matlab/Simulation

Extended Kalman Filter

RollingSpider/Allfiles/MIT_MatlabToolbox/trunk/matlab/Simulation

Already written in ./sim_quadrotor.slx
Kalman Filter parameters setting: ./parameters_estimationcontrol.m
Default compensator is ./sim_quadrotor.slx.r2015a

LQR Controller

RollingSpider/Allfiles/MIT_MatlabToolbox/trunk/matlab/Simulation/controllers/controller_fullstate/LQR

The parameters of LQR controller is calculated by global inverse of matrix ./LQRControl.m) and stored at ./linsys1.mat
The default controller is PID

Desired Trajectory Setting

RollingSpider/Allfiles/MIT_MatlabToolbox/trunk/embcode/rsedu_control.c

From line 1294

// Add position reference tracking
waitCycles = calibCycles + takeoffCycles + 350;
if(counter>waitCycles && counter<=waitCycles+refCycles){
            Drone_Compensator_U_pos_refin[0] = 0;
            Drone_Compensator_U_pos_refin[1] = (counter - waitCycles)/refCycles;
}else if((counter>waitCycles+refCycles && counter<=waitCycles+2*refCycles)){
            Drone_Compensator_U_pos_refin[0] = (counter - waitCycles - refCycles)/refCycles;
            Drone_Compensator_U_pos_refin[1] = 1;
}else if((counter>waitCycles+2*refCycles && counter<=waitCycles+3*refCycles)){
            Drone_Compensator_U_pos_refin[0] = 1;
            Drone_Compensator_U_pos_refin[1] = 1 - (counter - waitCycles - 2*refCycles)/refCycles;
}else if((counter>waitCycles+3*refCycles && counter<=waitCycles+4*refCycles)){
            Drone_Compensator_U_pos_refin[0] = 1 - (counter - waitCycles - 3*refCycles)/refCycles;
            Drone_Compensator_U_pos_refin[1] = 0;
}else{
            Drone_Compensator_U_pos_refin[0] = 0;
            Drone_Compensator_U_pos_refin[1] = 0;
}

which illustrates a up-down scenario (we use this to test altitude controller). This part can be replaced by any other codes to generate various trajectories (helix, square, triangle, etc)

For example, if we want to implemente the square nominal trajectory, we just need to add hovering waiting cycle

static int waitCycles = 1000;
static ini refCycles = 400;

and adjust the piece-wise function as follow,

// Add Position Reference tracking
if (counter > waitCycles && counter <= waitCycles + refCycles){
            Drone_Compensator_U_pos_refin[0] = 0;
            Drone_Compensator_U_pos_refin[1] = (counter-waitCycles)/refCycles;
}
else if (counter > waitCycles + refCycles && counter <= waitCycles + 2*refCycles){
            Drone_Compensator_U_pos_refin[0] = (counter-waitCycles-refCycles)/refCycles;
            Drone_Compensator_U_pos_refin[1] = 1;
}
else if (counter > waitCycles + 2*refCycles && counter <= waitCycles + 3*refCycles){
            Drone_Compensator_U_pos_refin[0] = 1;
            Drone_Compensator_U_pos_refin[1] = 1 - (counter-waitCycles-2*refCycles)/refCycles;
}
else{
            Drone_Compensator_U_pos_refin[0] = 0;
            Drone_Compensator_U_pos_refin[1] = 0;
}

airsus / RollingSpider