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QUB-ASL / bzzz

Quadcopter with ESP32 and RaspberryPi
MIT License
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Reference position tracking #134

Open patchedByBatman opened 10 months ago

patchedByBatman commented 10 months 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.

alphaville commented 8 months ago

@jamie-54 this may contain some useful pieces of code. Can we clean it up and merge it? If not, let's close it.