Future Project Ideas: Difference between revisions
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→Adding Parameter Support to Swarm Client: finished section |
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*'''Potential extension:''' Completely independent Crazyflie flight (i.e. No Client needed at all) | *'''Potential extension:''' Completely independent Crazyflie flight (i.e. No Client needed at all) | ||
==Tuning X, Y, and Z Location PID's | |||
==Model Development/Verification and Tuning X, Y, and Z Location PID's== | |||
===Focus Area=== | ===Focus Area=== | ||
'''Control Systems and Model Development/Verification''' | '''Control Systems and Model Development/Verification''' | ||
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*Flight performance will be greatly improved allowing more complex applications to be developed. | *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 | *'''Potential extension:''' Path prediction algorithms and optimal pathing between points with obstacles | ||
==Adding Parameter Support to Swarm Client== | ==Adding Parameter Support to Swarm Client== | ||
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*Less Firmware modification if we can just write params during Client init. | *Less Firmware modification if we can just write params during Client init. | ||
*'''Potential Extension:''' Tuning Firmware PID constants | *'''Potential Extension:''' Tuning Firmware PID constants | ||
==Threading Each USB Radio to speed up Computation== | ==Threading Each USB Radio to speed up Computation== | ||
Revision as of 19:28, 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)
Model Development/Verification and Tuning X, Y, and Z Location PID's
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
Adding Parameter Support to Swarm Client
Focus Area
Communications Protocols and Networking
- This project will require Client-side software development to create helper functions for easy modification of parameters on the Crazyflie Firmware
Tasks
- Creating packet framework in the Client to replicate the parameters packet protocol
- Programming helper functions to make it simple to modify parameters
- Ex. Write Parameter Value:
setParam(string "param_group.param_name", int set_value); - Ex. Read Parameter Value:
readParam(string "param_group.param_name");
- Ex. Write Parameter Value:
Benefits
- Won't have to re-flash Firmware every time we want to test a parameter change (Improves Firmware testing efficiency)
- Less Firmware modification if we can just write params during Client init.
- Potential Extension: Tuning Firmware PID constants