Multicopter Design and Control Practice: A Series Experiments based on MATLAB and Pixhawk

Foreword
Preface
Contents
1 Introduction
	1.1 What Are Multicopters
		1.1.1 Classification of Common Small Aerial Vehicles
		1.1.2 Unmanned Aerial Vehicles and Model Aircraft
	1.2 Why Multicopters
	1.3 What This Book Includes
		1.3.1 Experimental Platform
		1.3.2 Experimental Courses
		1.3.3 Features
	1.4 Engineering Education Certification Standards
2 Experimental Process
	2.1 Overall Introduction
		2.1.1 Hardware Platform
		2.1.2 Software Platform
		2.1.3 Relationship Between Software and Hardware Platforms
	2.2 Software Package Installation
		2.2.1 Installation Steps
		2.2.2 Advanced Settings
		2.2.3 Installation Completion
		2.2.4 Brief Introduction to Software
	2.3 Hardware Platform Configuration
		2.3.1 RC System Configuration
		2.3.2 Pixhawk Autopilot System Configuration
		2.3.3 Airframe and Propulsion System Configuration
3 Experimental Platform Usage
	3.1 Brief Introduction to Experimental Platforms
		3.1.1 Platform Composition
		3.1.2 Platform Advantage
	3.2 Simulink-Based Controller Design and Simulation Platform
		3.2.1 Controller
		3.2.2 Multicopter Model
		3.2.3 FlightGear Interface
	3.3 PSP Toolbox
		3.3.1 Simulink Pixhawk Target Blocks Library of PSP Toolbox
		3.3.2 Instructions for Modules in PSP Toolbox
		3.3.3 Simulink Configuration for Code Generation of PSP Toolbox
	3.4 Pixhawk Hardware System
		3.4.1 Hardware System Composition and Connection
		3.4.2 Basic Operation Method for RC Transmitter
		3.4.3 Method for Uploading Firmware Through QGC
		3.4.4 Pixhawk Setting for HIL Simulation Mode
		3.4.5 RC Transmitter Configuration and Calibration
		3.4.6 Flight Mode Settings
	3.5 HIL Simulation Platform
		3.5.1 CopterSim
		3.5.2 3DDisplay
		3.5.3 Flight Tests with HIL Simulation Platform
4 Experimental Process
	4.1 Experimental Process
	4.2 Experimental Procedure for LED Control Experiment
		4.2.1 Experimental Objective
		4.2.2 Experimental Procedure
		4.2.3 Controller Code Generation and Firmware Uploading
		4.2.4 Experimental Result
	4.3 Experimental Procedure of Attitude Control Experiment
		4.3.1 Simulink-Based Algorithm Design and SIL Simulation
		4.3.2 Code Generation and Configuration
		4.3.3 HIL Simulation
		4.3.4 Flight Test
5 Propulsion System Design Experiment
	5.1 Preliminary
		5.1.1 Propulsion System
		5.1.2 Propeller Radius and Airframe Radius
		5.1.3 Propulsion System Modeling
	5.2 Basic Experiment
		5.2.1 Experimental Objective
		5.2.2 Configuration Procedure
		5.2.3 Remarks
	5.3 Analysis Experiment
		5.3.1 Experimental Objective
		5.3.2 Calculation and Analysis Procedure
	5.4 Design Experiment
		5.4.1 Experimental Objective
		5.4.2 Design Procedure
		5.4.3 Remarks
	5.5 Summary
6 Dynamic Modeling Experiment
	6.1 Preliminary
		6.1.1 Coordinate Frame
		6.1.2 Attitude Representations
		6.1.3 Multicopter Flight Control Rigid-Body Model
		6.1.4 Control Effectiveness Model
		6.1.5 Propulsor Model
		6.1.6 Aerodynamic Model
	6.2 Basic Experiment
		6.2.1 Experimental Objective
		6.2.2 Experimental Procedure
	6.3 Analysis Experiment
		6.3.1 Experimental Objective
		6.3.2 Calculation Procedure
	6.4 Design Experiment
		6.4.1 Experimental Objective
		6.4.2 General Description of the Multicopter Dynamic Model
		6.4.3 Modeling Procedure
		6.4.4 Remark
	6.5 Summary
7 Sensor Calibration Experiment
	7.1 Preliminary
		7.1.1 Three-Axis Accelerometer
		7.1.2 Three-Axis Magnetometer
	7.2 Basic Experiment
		7.2.1 Experimental Objective
		7.2.2 Experimental Procedure
	7.3 Analysis Experiment
		7.3.1 Experimental Objective
		7.3.2 Experimental Analysis
		7.3.3 Experimental Procedure
	7.4 Design Experiment
		7.4.1 Experimental Objective
		7.4.2 Experimental Procedure
	7.5 Summary
8 State Estimation and Filter Design Experiment
	8.1 Preliminary
		8.1.1 Measurement Principle
		8.1.2 Linear Complementary Filter
		8.1.3 Kalman Filter
		8.1.4 Extended Kalman Filter
	8.2 Basic Experiment
		8.2.1 Experimental Objective
		8.2.2 Experimental Procedure
		8.2.3 Remark
	8.3 Analysis Experiment
		8.3.1 Experimental Objective
		8.3.2 Experimental Analysis
	8.4 Design Experiment
		8.4.1 Experimental Objective
		8.4.2 Experimental Design
		8.4.3 Simulation Procedure
	8.5 Summary
9 Attitude Controller Design Experiment
	9.1 Preliminary
		9.1.1 Attitude Control
		9.1.2 Implementation of Control Allocation in Autopilots
	9.2 Basic Experiment
		9.2.1 Experimental Objective
		9.2.2 Experimental Procedure
	9.3 Analysis Experiment
		9.3.1 Experimental Objective
		9.3.2 Experimental Procedure
	9.4 Design Experiment
		9.4.1 Experimental Objective
		9.4.2 Experimental Design
		9.4.3 Simulation Procedure
		9.4.4 Flight Test Procedure
	9.5 Summary
10 Set-Point Controller Design Experiment
	10.1 Preliminary
		10.1.1 Basic Concept
		10.1.2 Traditional PID Controller
		10.1.3 PID Controllers in Open-Source Autopilots
		10.1.4 PID Controller with Saturation
	10.2 Basic Experiment
		10.2.1 Experimental Objective
		10.2.2 Experimental Procedure
	10.3 Analysis Experiment
		10.3.1 Experimental Objective
		10.3.2 Experimental Procedure
		10.3.3 Remarks
	10.4 Design Experiment
		10.4.1 Experimental Objective
		10.4.2 Experimental Design
		10.4.3 Simulation Procedure
		10.4.4 Flight Test Procedure
	10.5 Summary
11 Semi-autonomous Control Mode Design Experiment
	11.1 Preliminary
		11.1.1 Semi-autonomous Control
		11.1.2 Radio Control
		11.1.3 Automatic Control
		11.1.4 Switching Logic Between RC and AC
	11.2 Basic Experiment
		11.2.1 Experimental Objective
		11.2.2 Experimental Procedure
	11.3 Analysis Experiment
		11.3.1 Experimental Objective
		11.3.2 Experimental Analysis
		11.3.3 Experimental Procedure
	11.4 Design Experiment
		11.4.1 Experimental Objective
		11.4.2 Experimental Design
		11.4.3 Simulation Procedure
		11.4.4 Flight Test Procedure
	11.5 Summary
12 Failsafe Logic Design Experiment
	12.1 Preliminary
		12.1.1 Safety Issues
		12.1.2 Failsafe Suggestions
		12.1.3 A Safe Semi-autonomous Autopilot Logic Design
	12.2 Basic Experiment
		12.2.1 Experimental Objective
		12.2.2 Experimental Procedure
	12.3 Analysis Experiment
		12.3.1 Experimental Objective
		12.3.2 Experimental Analysis
		12.3.3 Experimental Procedure
		12.3.4 Remark
	12.4 Design Experiment
		12.4.1 Experimental Objective
		12.4.2 Experimental Design
		12.4.3 Simulation Procedure
		12.4.4 Flight Test Procedure
	12.5 Summary
Appendix A Platform Advanced Functions
A.1  Registration Method of CopterSim
A.2  Custom Multicopter Configuration
A.3  Set Initial States
A.4  3D Scenes Based on UE4
A.5  Developing 3D Scenes Through UE4
A.6  HIL Simulation for Other Types of Multicopters
A.7  HIL Simulations of Other Models
A.8  Swarm Simulation
A.9  Simulation Mode Settings
A.10  Multi-computer Distributed Simulation
A.11  Swarm Control in Simulink
A.12  Vision-based Control Interface
Appendix B How Teachers Use This Book
B.1  Modify the Goals in the Propulsion System Design and Modeling Experiments for Different Students
B.1.1  Modify the Design Experiment of the Multicopter Propulsion System
B.1.2  Modify the Design Experiment for the Multicopter Modeling Experiment
B.2  Opening New Experiments
Appendix  References