My Bsc graduation project
The purpose of the project was angle control of a stationary (non-hovering) 4-DOF quadrotor system. The main system runs on an STM32F7 mc board, running C real-time executing sensor communication, motor speed (PWM) and the PID algorithms. Heuristic approach (via trial-error) was taken to tune the PID constants. The reference angle was given from a joystick with running python-ROS script externally from another pc. The body frame was majorly made of makeblock mechanical parts
Demo video: https://youtu.be/svHYbfm_wV0
More details are available on the thesis https://drive.google.com/file/d/1CeJ5bQGfB9dTfHgFVUi1hLkSoSA0svkV/view?usp=sharing