Vehicle Dynamics – Coriolis’ Theorem and the Cross-product Matrix
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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Modeling Vehicle Dynamics – 6DOF Nonlinear Simulation
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
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
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
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
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
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
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
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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