Drone position controller

In summary: Can you help us out?Hi anorlundaIn summary, the team is struggling to understand how to construct the position controller for a drone, and are looking for help on how to compute the desired angles for roll and pitch.
  • #1
Young_kids
3
0
TL;DR Summary
computing remaining 3D angles from x, y and the angle in between them
Hi guys
We have a problem we we are building a flight controller for a drone, but fail to understand how to construct the position controller.
It takes the x, y positions and the angle in between them which we call yaw. How to compute the angles roll and pitch for the desired x and y positions. We have an idea of the following
1580113421740.png

Can someone explain what formula that converts the x error and y error as well as the angle yaw to the desired roll and pitch angles.

We found a formula

1580113599756.png

and
1580113623166.png

But we don't understand why, hope you can help
 

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  • #2
Young_kids said:
It takes the x, y positions and the angle in between them which we call yaw. How to compute the angles roll and pitch for the desired x and y positions.
If the direction is just horizontal (x & y), why do you need the other angles?
 
  • #3
A.T. said:
If the direction is just horizontal (x & y), why do you need the other angles?

Because we are making a cascaded control setup, the inner loop controls, pitch, roll, yaw, z. As this is an underactuated system, the desired pitch and roll angles are obtained by cascaded controllers, which make up the outer loop. This outer loop takes the x_error, y_error and measured yaw, and should compute the desired pitch and roll angles in order to achieve the desired position. We are unsure how to compute these desired desired pitch and roll angles, can you give us a hint please
 
  • #4
Young_kids said:
Because we are making a cascaded control setup,
Before looking at specific equations, the overall plan for cascaded loops must make sense. Can you post a block diagram of the entire control scheme from sensors to actuators?
 
  • #5
anorlunda said:
Before looking at specific equations, the overall plan for cascaded loops must make sense. Can you post a block diagram of the entire control scheme from sensors to actuators?

Hi anorlunda
Thanks for replying. Our block diagram is as follows overall
1580131382071.png

We are unsure of how do the world to body conversion, where the x_error, y_error and yaw are used to compute the desired roll and pitch angle
 

What is a drone position controller?

A drone position controller is a device or software that controls the position and movement of a drone. It receives input from various sensors on the drone and uses algorithms to calculate the appropriate commands for the drone's motors and propellers to maintain a desired position or trajectory.

How does a drone position controller work?

A drone position controller uses a combination of sensors, such as accelerometers, gyroscopes, and GPS, to gather data on the drone's position and movement. This data is then processed by the controller's algorithms, which determine the appropriate commands to send to the drone's motors and propellers to maintain a stable position or follow a specific trajectory.

What are the benefits of using a drone position controller?

Using a drone position controller allows for more precise and stable flight, as well as the ability to perform complex maneuvers and follow specific flight paths. It also reduces the workload for the drone pilot, as the controller handles the calculations and adjustments needed for maintaining position and movement.

Are there different types of drone position controllers?

Yes, there are various types of drone position controllers, including onboard controllers that are integrated into the drone's hardware, as well as external controllers that can be added to a drone. There are also different control algorithms, such as PID (Proportional-Integral-Derivative) controllers, that can be used depending on the specific needs of the drone.

Do all drones have a position controller?

No, not all drones have a position controller. Some smaller or simpler drones may rely on manual control from the pilot, while others may have basic stabilization systems but not a full position controller. Higher-end drones and those used for professional purposes typically have more advanced position controllers to ensure precise and stable flight.

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