This week I compiled my debugging results into a document. There are 4 blocks that need debugging: the production control, position thrust, flyer (dynamics simulation), and the attitude control block. The main goal of the model is to verfiy the control strategy. Therefore, it is important to have the correct dynamics model. Ideally, when starting from the hover state, without the controller input the drone should be able to maintain its hover state for a short period of time before drifting away. However, it is hard to quantify how long the time period should be. The solution is to verify each equation used in the block individually. Debugging Report.pdf

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