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How can I increase the Hover height of the Quadcopter Parrot Mambo without causing instability?

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I am trying to simulate a flight path using the Parrot Mini-drone example given by asbQuadcopterStart. Any trajectory that is set to go above 2.1 m causes the drone to go unstable (rolls or pitches back and forth until a model assertion terminates the simulation). How can this be fixed? The documentation link to the Quadcopter Project is given below:

Accepted Answer

MathWorks Support Team
MathWorks Support Team on 19 Apr 2019
The optical flow subsystem (asbQuadcopter/Sensors/Sensors (Dynamics)/Sensor System/Camera) is a crude representation of the optical flow sensor onboard the Rolling Spider/Mambo.
Changing the "velocity to optical flow" gain value (Sensors.velocityToOpticalFlowGain) from 1.0 to 0.75 will allow you to increase the altitude to 2.5m without the xy instabilities that were observed previously. You can continue to manipulate this value as the altitude changes.

More Answers (1)

Luca Santoro
Luca Santoro on 25 Nov 2019
Is there a linear correlation between altitude and this parameter? Is it possible to fix this problem varying this parameter in dynamic way during the flight? My mambo is quite unstable due to this optical flow algorithm.

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