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Similaire à Algorithms and hardware designs for quadcopters (20)
Algorithms and hardware designs for quadcopters
- 22. Attitude estimation Demo
• Android Sensors
• Sensor.TYPE_ACCELEROMETER
• Sensor.TYPE_GYROSCOPE
• Sensor.TYPE_ROTATION_VECTOR(Base line)
• WebSocket Client on browser side
• Receiving sensor data
• Render altitude with WebGL
- 44. PID Controller
• Proportional(the present error)
• Thrust = Error * alpha;
• Integral(accumulation of past errors)
• integral = integral + error * dt;
• Derivative(prediction of future errors)
• derivative = (error - lastError) / dt;