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Flight controller for a quadrocopter

Marcin Zając

Abstract

The aim of this thesis was to build a flight controller for a quadrocopter and constructing the multirotor itself. The software was prepared for the STM32F303 microcontroller. Thesis describes physical and algorithmic problems connected with controlling a quadrocopter and presents the way they were solved. Sensors cooperating with the flight controller were discussed as well as the methods of processing their measurements. Sensor fusion algorithm and attitude controller were introduced and described. Thesis also proposes methods for testing different features of the flight controller.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Marcin Zając (FEIT) Marcin Zając,, Faculty of Electronics and Information Technology (FEIT)
Title in Polish
Sterownik lotu dla quadrocoptera
Supervisor
Grzegorz Mazur (FEIT/ICS) Grzegorz Mazur,, The Institute of Computer Science (FEIT/ICS)Faculty of Electronics and Information Technology (FEIT)
Certifying unit
Faculty of Electronics and Information Technology (FEIT)
Affiliation unit
The Institute of Computer Science (FEIT/ICS)
Study subject / specialization
, Informatyka (Computer Science)
Language
(pl) Polish
Status
Finished
Defense Date
20-09-2016
Issue date (year)
2016
Internal identifier
92/16 (2206)
Reviewers
Grzegorz Mazur (FEIT/ICS) Grzegorz Mazur,, The Institute of Computer Science (FEIT/ICS)Faculty of Electronics and Information Technology (FEIT) Krzysztof Gracki (FEIT/ICS) Krzysztof Gracki,, The Institute of Computer Science (FEIT/ICS)Faculty of Electronics and Information Technology (FEIT)
Keywords in Polish
quadrocopter, quadcopter, robot mobilny, sterowanie robotem, fuzja danych sensorycznych
Keywords in English
quadrocopter, quadcopter, mobile robot, controlling robot, sensor fusion
Abstract in Polish
Praca prezentuje projekt oprogramowania sterownika lotu quadrocoptera zrealizowanego na platformie STM32F303. Opisuje problemy natury fizycznej i algorytmicznej, jakie towarzyszą temu procesowi oraz przedstawia sposób, w jaki zostały rozwiązane. W pracy omówione są czujniki współpracujące ze sterownikiem lotu oraz metody przetwarzania ich pomiarów. Opisany został zastosowany algorytm fuzji danych sensorycznych oraz regulator stabilizujący orientację quadrocoptera. W pracy zaproponowane są metody testowania poszczególnych funkcji sterownika lotu.
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    PDI_Marcin_Zajac.pdf
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Local fields
Identyfikator pracy APD: 13938

Uniform Resource Identifier
https://repo.pw.edu.pl/info/bachelor/WUTd1a874b6a5a749b485652bdb083f258c/
URN
urn:pw-repo:WUTd1a874b6a5a749b485652bdb083f258c

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