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QUB-ASL / bzzz

Quadcopter with ESP32 and RaspberryPi
MIT License
7 stars 1 forks source link

Reference position tracking #133

Closed patchedByBatman closed 1 year ago

patchedByBatman commented 1 year ago

Note:

This is still in development and needs real-time testing. Posting this PR in case the next student might be interested in using this code.

Main Changes

This PR is about the implementation of a reference position tracker. It implements;

  1. A QR-Camera based heading and (x, y) coordinate tracker.
  2. A Kalman filter for estimating the (x, y) coordinates along with the corresponding velocities (vx, vy).
  3. An LQR for position reference tracking.

Tests

Only preliminary simulations.

patchedByBatman commented 1 year ago

This is based on a very old branch. Try to merge dev into this branch first.

Done! Please have a look.

alphaville commented 1 year ago

@gunturiCM I'm closing this so you can create a new clear PR. Make sure you branch out of dev, you have done a git pull origin dev first and you don't use git add .. Instead add the specific files you want to add.