Course Schedule

Lectures start on Monday, February 12th, 15:45 (kick off), see mytimetable for the actual schedule. Labs are at building 36 lowrise, rooms H, J, K, L and M in on Tuesday 08:45 - 12:30 xor Wednesday 08:45-12:30 xor Thursday 08:45-12:30. The location may prove less than ideal but it's all we've got to work with.

Week schedule (NOTE: tentative and subject to change without notice):

WeekContents
3.1, MondayCourse introduction and lab instructions (slides), System Architecture, QR Mechanics and Control (slides)
3.1, ThursdayEmbedded Programming
3.2, MondayControl Theory (slides)
3.2, Tuesday-Wednesday-ThursdayFirst lab session
3.3, MondaySignal Processing (slides)
3.4, MondayQR Control (slides)
3.5, 3.6 Lab sessioninterim exam, yaw control
3.9, Lab sessionD(emonstration) day!

Lab Timeline

This is a general plan that should not be followed to the letter, but is intended to serve as a general guideline. It lists the most important lab milestones.

Note that the lab time should be used to perform the tests for which you NEED the Quadcopter.

Preparation (BEFORE 1st lab):

  1. Familiarize with HW
    • setup your toolchain
    • compile and upload the provided code
  2. Protocol design and implementation on the flight controller board

1st lab:

  1. Familiarize with HW
    • connect joystick and try to get data from it
    • connect the control board, and try to run the template
  2. Test protocol
  3. Implement manual mode
  4. Work on safety features (see Safety Checklist)

Preparation (BEFORE 2nd lab):

  1. Implement data logging
  2. Test data logging
  3. If you have not done so yet, implement the safety features (see Safety Checklist)

2nd lab:

  1. Demonstrate protocol
  2. Test manual mode

Preparation (BEFORE 3rd lab):

  1. Implement calibration
  2. Implement yaw control (DMP)

3rd lab:

  1. Demonstrate manual mode
  2. Test calibration
  3. Test yaw control (DMP)

Preparation (BEFORE 4th lab):

  1. Implement roll and pitch control (DMP)
  2. Start on filters (Butterworth 1st order, Kalman)
  3. Profile your code!

4th lab:

  1. Test and demonstrate yaw mode
  2. Test roll and pitch control (DMP)

Preparation (BEFORE 5th lab):

  1. Continue work on filters (Butterworth 1st order, Kalman)
  2. Implement height control
  3. Implement wireless

5th lab:

  1. Test and demonstrate full control using DMP
  2. Test Kalman filter
  3. Test wireless
  4. Test height control

Preparation (BEFORE 6th lab):

  1. Profile your code some more
  2. Finalize full control using Kalman

6th lab:

  1. Test and demonstrate full control using Kalman
  2. Preliminary demonstration + free advice
  3. Fine tuning

7th lab:

  1. Fine tuning

8th lab (week 3.9):

  1. Formal demonstration and grading