15 Mar

FORAY - Crazyflie Yaw Rate PID Control Modification

Ethan Uetrecht

After setting up the crazyflie as a blimp and performing various tests, one primary issue was noticed when attempting to control the blimp. This issue was in the yaw control; I noticed that for large yaw inputs, the blimp would not turn left or right. Instead, the left and right motors would alterna...

15 Feb

FORAY - Crazyflie Blimp Setup

Ethan Uetrecht

The crazyflie system is primarily designed to be used as a quadcopter but can be modified to be usable as a blimp. This requires both a change in the propellor configuration (hardware) as well as a change in the firmware. The process of modifying the firmware is described in the following tutorial...

25 Jan

Perception/Localization Setup with Crazyflie

Ethan Uetrecht

I followed the following tutorials to get a crazyflie quadcopter set up and tested: https://www.bitcraze.io/documentation/tutorials/getting-started-with-crazyflie-2-x/ https://www.bitcraze.io/documentation/tutorials/getting-started-with-expansion-decks/ https://www.bitcraze.io/documentation/tu...

02 Dec

Blimp Altitude Filtering Algorithm (Second Order)

Ethan Uetrecht

This past week, I focused on improving upon the altitude filtering algorithms I had tested previously for the blimps on FORAY. The previous two algorithms I had implemented (both in arduino and in MATLAB) were a moving average filter and an exponential filter (both first-order filters). Both intro...

21 Oct

Blimp Orientation Control with IMU

Ethan Uetrecht

I have spent the past weeks assembling a blimp on which to test a feedback control system to aid in controlling the blimp as well as building said control system. The picture below shows the experimental setup. So far, the blimp is assembled and controlled based on IMU motion. The video below...

07 Oct

Motor Feedback Control using IMU

Ethan Uetrecht

This past week I have developed a framework for motor feedback control using IMU (orientation) data. I first wrote scalable motor control software for interfacing with the tb6612. A quick test operation can be seen below. Motor Test: Your browser does not support the video tag. I then integr...

24 Sep

Initial Testing of Blimp Altitude Filtering Algorithms

Ethan Uetrecht

In order to improve the inertial measurement capabilities of the blimps on the Foray project, I have been working with Zhaoliang to implement various filtering algorithms for the altimeter data we collect. So far, I have used Matlab to create both an exponential filter and a moving average filter....

16 Sep

Blimp Orientation with IMU

Ethan Uetrecht

Knowledge of a lighter-than-air vehicle's orientation is an essential initial step in ensuring stable operation. I have been working on implementing a sensor fusion system for the blimps on the FORAY project. The current implementation uses a 6-DOF IMU, the MPU6050. The experimental setup can be...

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