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people:kidson:quadrocopter [2012/10/28 15:31]
kidson
people:kidson:quadrocopter [2012/10/29 14:12] (current)
kidson
Line 12: Line 12:
   * Position PD controller for the heading (yaw)   * Position PD controller for the heading (yaw)
  
-The flight ​and landing operation ​is as follows:+==== Flight ​and landing operation ​====
  
   * Quadrocopter takes off and is controlled manually by the phone   * Quadrocopter takes off and is controlled manually by the phone
Line 19: Line 19:
   * "​Landing"​ will start the landing procedure   * "​Landing"​ will start the landing procedure
  
-The Landing ​procedure was as follows:+==== Landing ​Procedure ====
    * Track and follow the marker until the quadrocopter is stable (marker stays in field of view for some time)    * Track and follow the marker until the quadrocopter is stable (marker stays in field of view for some time)
    * Begin descent by slowly decreasing height command, while continuing to track and follow the marker    * Begin descent by slowly decreasing height command, while continuing to track and follow the marker
    * When the marker is so large that it no longer fits in the camera'​s field of view, set x and y velocities to 0 and do the final descent.    * When the marker is so large that it no longer fits in the camera'​s field of view, set x and y velocities to 0 and do the final descent.
 +
 +The following videos show the tracking, landing, and smartphone control interface.
  
 <​html>​ <​html>​
 +
 +<p>
 +<iframe width="​100%"​ height="​370" ​ src="​http://​www.youtube.com/​embed/​kdyTqLgtGvE"​ frameborder="​0"​ allowfullscreen></​iframe>​
 +
 +<p>
 +
 <iframe width="​100%"​ height="​370" ​ src="​http://​www.youtube.com/​embed/​cLBD71Xbpws"​ frameborder="​0"​ allowfullscreen></​iframe>​ <iframe width="​100%"​ height="​370" ​ src="​http://​www.youtube.com/​embed/​cLBD71Xbpws"​ frameborder="​0"​ allowfullscreen></​iframe>​
 </​html>​ </​html>​
  
-==Code==+==Links== 
 + 
 +{{:​people:​kidson:​quadrocopter:​project_presentation_final.pdf|Final Presentation Slides}}
  
-svn checkout svn://​svn.code.sf.net/​p/​quadro-nav/​code/​trunk quadro-nav-code+Get the code: svn checkout svn://​svn.code.sf.net/​p/​quadro-nav/​code/​trunk quadro-nav-code
  
people/kidson/quadrocopter.1351434717.txt.gz · Last modified: 2012/10/28 15:31 by kidson