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Parrot Minidrone - stable flight

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I am using the yaw pitch roll configuration and I want to achieve stable flight. So I want to use the optical flow values in the x and y direction to achieve this as my drone keeps drifting. I think it works when i put feedback loops in for the roll direction. But when i use pitch, the drone in the simulation just flips out? What am i doing wrong or how else can keep my drone aligned to the track or the arena around it?

Accepted Answer

Pranav Murali
Pranav Murali on 19 Mar 2020
Hi Keith,
It’s a nice idea to use the optical flow values for a good, controlled flight. Here’s a couple of things you can try:
  1. Tuning the PID controller of the pitch with different coefficients.
  2. Process the values x and y of optical flow and provide feedback to the roll axis alone during position control. The pitch can be controlled during orientation control.
For a better understanding of the position and orientation control refer this:
  1 Comment
Débora Oliveira
Débora Oliveira on 24 Jan 2021
Edited: Débora Oliveira on 24 Jan 2021
That's a great idea Pranav.
I would recommend updating the optical flow computation. The last version I used was the 20a, but as for the release page, no consideration was done to the model in the newest version.
The equations represented in the block diagram is a partial approximation of the Lucas-Kanade method. I plotted the output signals and saw an oscillation on the velocity estimation value at axis Y. There may be a signal mistype at the term of angular axis X velocity.
I replaced with the optical flow equations of the Horn-Schunck method and got a much more stable drone in the simulation.

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