Quadrotor Control
Assembled and programmed a PID controller from scratch for a small quadrotor.
Overview
This project began with a Raspberry Pi, a Wi-Fi card, an IMU, and a small quadrotor chassis kit. After assembling the quadrotor, the IMU data was programmed to first calibrate its values based of an average of the first thousand measurements. The IMU data was then interpreted and used to create flight controllers for the four motors. The controllers were created in a systematic fashion, isolating each degree of freedom (pitch, roll, and yaw) and building up each P, D, and I controller sequentially to demonstrate their respective benefits both when isolated and when working together. A game controller was programmed to both command the quadrotor and perform various actions like pausing, calibrating, and resuming flight.