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Quadcopter UAV Flight Control and Vision System
Developed flight control, navigation, altitude-hold, and computer vision systems for quadcopters based on MSP432, MSP430, or STM32 microcontrollers.CategoryLead
PeriodSep 2019 – Apr 2022
RoleParticipant
Project Overview
Developed flight control, navigation, altitude-hold, and computer vision systems for quadcopters based on MSP432, MSP430, or STM32 microcontrollers.Contributions and Outcomes
- Flight Control: Programmed core controller scheduling and sensor drivers.
- Altitude Hold: Fused barometer (SPL06-001) and laser optical flow data to achieve hover stability.
- Attitude Control: Fused MPU6050 6-axis IMU raw data using Kalman filtering and quaternion estimations, and maintained stability using incremental cascade PID algorithms.
- Vision System: Implemented target tracking and pose optimization using OpenMV vision cameras.
- Stability: Resolved hover drifting issues in textureless solid-color indoor spaces.