CNIT-58100-SDR / Spring 2019 - Altitude control and waypoint navigation for UAV hives

1. Simulator Structure Simulated quadcopter model using Matlab Simulink. The simulator consists of sub-parts, propeller, rotational dynamics and linear dynamics. Each Sub-parts Propeller Propeller's torque, force and current change according to voltage Rotational Dynamics Drone's moment of inertia according to torque and force Linear Dynamics Acceleration of drone according to force, angle and velocity Set Starting Position Change starting position from coordinate system 2. Simulator  Open loop simulator  Close loop simulator  - Z axis  Close loop simulator - X, Y, Z axis 3. Results Open loop Close loop - Z axis Close loop - X, Y, Z axis

Drone Hardware - UAV hardware was built - Purchased necessary sensor and flight controller Flight Controller - Implemented and experimented basic controller. The video shows basic sensor reading of accelerometer and barometer. - Successfuly integrated sonar sensor to APM controller - Code will be shared on github https://github.com/nanxinjin/581-Robotics Plan for next week - Experiment on hovering and altitude controlling using sonar sensor data