The goal of this project is to realize automation routine of an X quadricopter based on an Arduino Uno and the MPU-6050 sensor.
Basicaly, this automation routine is an implementation of a digital PID. The method used to calculate PID coefficients is Ziegler Nichols method.
This project uses I2Cdev library that can be found here : https://github.com/jrowberg/i2cdevlib
Currently in beta version.
Arduino libraries:
- Wire
- I2C
- Servo
- SimpleTimer
- MPU6050_6Axis_MotionApps20
+-------------------------+
| MPU-6050 |
| |
| 3V3 SDA SCL GND INT |
+--+----+----+----+----+--+
| | | | |
| | | | |
+---------+----+----+----+----+-----------+
| 3.3V A4 A5 GND #2 |
| |
| |
| Arduino Uno |
| |
| #4 #5 #6 #7 #8 #9 #10 #11 |
+--+----+----+----+----+----+----+----+---+
| | | | | | | |
(M1) (M2) (M3) (M4) (C1) (C2) (C3) (C4)
Legend:
Mx : Motor X
Cx : Receiver channel x
Quadcopter orientation:
(1) (2) x
\ / z ↑
X \|
/ \ +----→ y
(3) (4)
- Motor 1 : front left - clockwise
- Motor 2 : front right - counter-clockwise
- Motor 3 : rear left - clockwise
- Motor 4 : rear left - counter-clockwise
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