The C++ Project Readme

This is the readme for the C++ project.

The Tasks

Routines are implemented in QuadControl.cpp and the control gains are in QuadControlPararms.txt.

GenerateMotorCommands required math to be carefully computed to figure out what kappa means. With NED, a negative sign was required to get the correct orientation during roll and pitch. The F3/F4 swap from course exercise was difficult to diagnose and helpful to visualize the thrust coming out of the roll.

Body rate and roll/pitch control (scenario 2)

This exercise, again, required understanding of the math. In this case the Euler rotation matrix R13 and R23 are essential as we are targeting an abstract value inside a rotation matrix.

Position/velocity and yaw angle control (scenario 3)

The lateral controller can lead to drone instability which made this exercise interesting to pass.

Non-idealities and robustness (scenario 4)

The mass error of one of the drone required a high integration gain to correct for this systematic error. We need to iterate over all the lower controller gains to make sure we didn't break anything each time.

Tracking trajectories

In this section, fine tuning of the altitude and latitude controller was necessary.

Extra Challenge 1 (Optional)

not attempted.

Extra Challenge 2 (Optional)

not attempted.

Evaluation

The scenarios all showed pass.

Performance Metrics

Deleted to simplify for reviewer.