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Autonomy in Motion

A blog on autonomy and dynamics which tends to diverge on tangents

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Category: Quadcopter

Vehicle Dynamics – Coriolis’ Theorem and the Cross-product Matrix

Posted on February 23, 2019February 24, 2019 by Charlie

One thing that can be puzzling when deriving the equations of motion for a rotating body is the Coriolis component (the cross product)…

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Time History Plot

Modeling Vehicle Dynamics – 6DOF Nonlinear Simulation

Posted on August 31, 2017February 21, 2019 by Charlie

Here we take all the equations of motion we have derived and numerically integrate them to generate a simulation of the vehicle motion…

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Modeling Vehicle Dynamics – Quadcopter Equations of Motion

Posted on June 7, 2017February 23, 2019 by Charlie

In this post we will see how we can describe motion of the quadcopter – or any vehicle – as a set of…

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Measuring Quadcopter Attitude with Sensors

Posted on May 30, 2017December 9, 2017 by Charlie

In modeling the quadcopter for simulation we have full knowledge of the vehicle attitude, however for the real hardware we have limited observability…

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Modeling Vehicle Dynamics – Euler Angles

Posted on May 24, 2017August 31, 2017 by Charlie

This post is the 1st in a series on modeling and simulation of a quadcopter’s vehicle dynamics. The full series will include all…

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Quadcopter Motor Test

Posted on May 7, 2017June 6, 2017 by Charlie

Once the quadcopter is fully assembled and you’ve been able to verify that you can communicate with the flight controller, you’ll likely want…

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APM 2.5 Hello World and Serial Communication

Posted on May 4, 2017June 6, 2017 by Charlie

Hello World When using the Arduino-based APM, you’ll need to download the Ardupilot version of the Arduino IDE to use their Hardware Abstraction…

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Hardware Components and Build

Posted on May 4, 2017June 6, 2017 by Charlie

Component List The quadcopter I built used the following components: 3DR APM 2.5 Flight Controller 3DR GPS Receiver (optional addition to APM) 3DR…

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Quadcopter Testbed Introduction

Posted on April 27, 2017May 25, 2017 by Charlie

In an effort to demonstrate the practical application of various control law design methodologies, I’ve decided to build a quadcopter to act as…

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