Future Project Ideas: Difference between revisions
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→Tuning X, Y, and Z Location PID's for Faster Response: finished section |
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==Migrating Swarm Client PID's to Firmware== | ==Migrating Swarm Client PID's to Firmware== | ||
===Focus Area=== | ===Focus Area=== | ||
'''Firmware Programming and Communication Protocols''' | |||
*This project requires heavy modification of the Firmware and Communication systems inside the Crazyflie. | |||
===Tasks=== | ===Tasks=== | ||
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===Benefits=== | ===Benefits=== | ||
*Significantly reduces Client-side computation and allows Crazyflie swarm to share the load. | *Significantly reduces Client-side computation and allows Crazyflie swarm to share the load. | ||
*Potential extension | *'''Potential extension:''' Completely independent Crazyflie flight (i.e. No Client needed at all) | ||
==Tuning X, Y, and Z Location PID's for Faster Response== | ==Tuning X, Y, and Z Location PID's for Faster Response== | ||
Revision as of 19:09, 28 July 2016
Here we will go into more depth on what each of these projects would require:
Migrating Swarm Client PID's to Firmware
Focus Area
Firmware Programming and Communication Protocols
- This project requires heavy modification of the Firmware and Communication systems inside the Crazyflie.
Tasks
Firmware
- (HARD) Modifying Commander Packet Structure to allow position data to be sent rather than pitch, roll, yaw, and thrust setpoints.
- Modifying Firmware to pass the new position data into the correct place for use by the Firmware PID controllers.
Client
- Modify Swarm Client packet construction to match new commander packet protocol in Firmware
- (EASY) Remove Controllers from callbacks and just send location packets to Crazyflies while still maintaining other functionality.
Benefits
- Significantly reduces Client-side computation and allows Crazyflie swarm to share the load.
- Potential extension: Completely independent Crazyflie flight (i.e. No Client needed at all)
Tuning X, Y, and Z Location PID's for Faster Response
Focus Area
Control Systems and Model Development/Verification
- This project will require developing a model of the Crazyflie system and using the Model to calculate PID constants.
Tasks
- (HARD) Identify model Parameters for the Crazyflie
- Construct model in Simulink and Verify simulation compared to test data
- (EASY) Derive PID constants from verified model, test flight performance
Benefits
- VERIFIED MODEL!! We can do many things once we have a verified model of the system.
- Flight performance will be greatly improved allowing more complex applications to be developed.
- Potential extension: Path prediction algorithms and optimal pathing between points with obstacles