Drone

This is a course project for Motion Control, collaborate with Yuyang Qin.

The motivation of this project comes from Harry Potter, and we aim to use specific wand trajectories as "spells" to control a drone, thereby replacing the function of a traditional joystick.

PID Parameters Tuning

Without D-gain: severe oscillation and overshoot.
With D-gain: smooth motion, minimal overshoot.
Inner loop roll/pitch D-gain tuning.
Low P-gain: system susceptible to disturbances.
High P-gain: system reacts aggressively to disturbances.
Outer loop roll/pitch P-gain tuning
The pitch motion of the drone after tuning the inner and outer PID loops.

Magic Wand Motion Tracking and Gesture Recognition

"8-fly" motion tracking.
This video shows how different "spells" are detected through an onboard IMU. It will rings "di——" when a specific spell is recognized.