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UAV Drone is a suite of software and hardware which is hosted on Raspberry Pi for the purpose of drone system identification/mathematical modelling and control law development. This platform measures critical aerospace measurements of Pitch, yaw, Roll via AHRS, location through GPS, and air data through Pitot Static system. Control of the drone is provided through user developed Control law based on critical aircraft parameters to 16 configurable PWM outputs to servos or motors controllers.
This UAV drone hardware senses critical orientation parameters through a MPU-9250 9 Degree of Freedom sensor. This sensor measures 3-axis Acceleration Nx, Ny, & Nz, Compass Mx, My, Mz, and Gyroscopic rate P, Q, & R. A sensor fusion and numeric integration algorithm then combines these 9 parameters to 4 Euler parameters/Quaternions. An Euler body 1-2-3 sequence relates these to Roll/Pitch/Yaw. Air data is measured through altimeter and differential pressures. GPS measures position and track.
Features
- Avionics Platform for Drone system identification/state-space mathematical modelling
- Attitude, Heading, and Reference System (AHRS) from $11, 9DOF sensor
- AHRS computations use Madgwick's published sensor fusion algorithm to compute attitude using Euler parameters as intermediary variables
- GPS - for measurement of position and translational motion
- Pitot-Static air data system for measurement of Altitude/Temperature/Airspeed
- All software developed in Python for ease of further coding development
- Total hardware cost is around $100 plus Raspberry Pi
Project Samples
