anandketan / Pitch_Control

Pitch of an aircraft is controlled by the elevator which is situated at the rare of the airplane running parallel to the wing that houses the ailerons. Pitch control is a longitudinal problem, and this repository presents the design of an Arduino-based system as a solution.

Arduino MPU9250 - Gyroscope Motion Processing

The MPU-9250 is a 9-axis Motion Tracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor. With its dedicated I2C sensor bus, the MPU-9250 directly provides complete 9-axis DoF output. In this project, the gyroscope function is explored in controlling pitch by altering elevator deflection angle.

Procedure for using MPU-9250 - refer "arduino_pitch.cpp" - 3 DoF gyrosocpe:

1. Fix address, reset calibrate, reset threshold from previous iterations.
2. Set up clock source, scale and range of functioning.
3. Read input for elevator as 8-bit values loaded into fast registers.
4. Change angle of deflection to alter pitch suitably.

References

Pitch controller design: https://www.researchgate.net/figure/The-pitch-controller-synthesis_fig1_275533475
Arduino MPU-9250 manual: https://invensense.tdk.com/products/motion-tracking/9-axis/mpu-9250/
PID tuning method: https://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=ControlPID