GROUND CONTROL STATIONFLIGHT CONTROLTim Molloy
Ground Control Station2
HLO-5 Ground Control Station
SR-B-02Flight Mode Switching
Flight Control Widget
SR-B-08 and 09
Receive and Transmit
Telemetry via WLAN
Communications and Vicon
Threads; Gains and Parameter
Widgets
SR-D-07 and 08
Log Telemetry and Uplink Commands
Received and Transmit
Consoles and Data Logger
SR-D-09Display of State
and Control Data
Data Plotters & Artificial Horizon
SR-D-10System Status
Display
System Status Widget
06332064 Tim Molloy
3
GCS Design (Architecture)
06332064 Tim Molloy
Ground Control Station Software - Ubuntu
Telemetry Thread· Connect to UDP Server· Receive Telemetry Data· Transmit uplink data
GCS Thread· Run GCS GUI· Change Flight Modes · Change Control Settings· Display received telemetry data· Log Data
Data Logging
802.
11 N
etw
ork
Signals/Slots
Vicon Thread· Receive Vicon Data· Forward Vicon Data
Signals/Slots
Net
wor
k
Signals/Slots
4
GCS Implementation (User Interface)
06332064 Tim Molloy
5
HLO-5 Ground Control Station
SR-B-02Flight Mode Switching
AT-02
SR-B-09 and 08
Receive and Transmit
Telemetry via WLAN
AT-08 AT-09
SR-D-07 and 08
Log Telemetry and Uplink Commands
AT-17 and AT-18
SR-D-09Display of State and
Control Data
AT-19
SR-D-10System Status
Display
AT-20
GCS Acceptance Testing
06332064 Tim Molloy
Flight Control6
HLO-4 Autonomous Hovering Flight
SR-B-10PID Control
Methodology
Control Architecture
SR-D-03Stability
Augmented Flight
Attitude Control
Static Angle Setpoints
Dynamic Angle Setpoints
Dynamic Angular Rate
Setpoints
SR-B-0350Hz Control
Rate
Control and Mode Control
Unit Flight Computer
Update Rate
SR-D-04Autonomous
Station-keeping
Guidance
06332064 Tim Molloy
8
06332064 Tim Molloy
Flight Control (System Architecture)
Attitude Control
Position Control
10
Angle Based Attitude Control
96 97 98 99 100 101 102
-20
0
20
40
60Angle Control : IMG0059 Angle Controller Oscillations
Pitc
h A
ngle
[
deg]
ref
96 97 98 99 100 101 102
-20
0
20
40
60
Time t [sec]
Rol
l Ang
le
[de
g]
ref
11
Dynamic Rate Based Attitude Control
12
Altitude Control
Flight Control Acceptance Testing
13
06332064 Tim Molloy
HLO-4 Autonomous Hovering Flight
SR-B-10PID Control Methodolog
y
AT-10
SR-D-03Stability
Augmented Flight
AT-13
SR-B-0350Hz Control
Rate
AT-03
SR-D-04Autonomous
Station-keeping
AT-14
14
Lessons Learnt
GCS· Emphasis on modular design, unit testing and
documentation tools to maximise code reuse· Avoidance of “from scratch” development
Control· Separation of State Estimation and Controller Testing· Reliance on controller designs based on proven
implementations rather than simulations· Limitations on use of testing apparatus to mitigate
risks· Effects of PWM resolutions on control performance· Avoidance of USART Update Limitations in Control 06332064 Tim Molloy