I am trying to simulate a flight path using the Parrot Mini-drone example given by asbQuadcopterStart. Any trajectory that is set to go above 2.1 m causes the drone to go unstable (rolls or pitches back and forth until a model assertion terminates the simulation). How can this be fixed? The documentation link to the Quadcopter Project is given below:
MATLAB: How to increase the Hover height of the Quadcopter Parrot Mambo without causing instability
Aerospace Blockset
Related Solutions
You can use the demo example asbQuadcopter from the Bug Report (Only for MATLAB R2017a or newer) if you have the license for following toolboxes.
- Aerospace Blockset
- Aerospace Toolbox
- Control System Toolbox
- Signal Processing Toolbox
- Simulink 3D
Please follow the following steps in order to fly the PARROT minidrone using Simulink model:
- Download the asbQuadcopter from the above link and follow the instructions mentioned in that page.
- Type "asbQuadcopterStart" in the MATLAB Command Prompt which will open the demo project.
- Simulate the model and play around. Double click the ‘FCS’ subsystem, which opens the ‘flighControlSystem’ reference model.
- Build this model. If the build goes through successfully, the shared object will be loaded onto the drone.
- After successful codegeneration, create a PARROT object using the below command*
>> rs = codertarget.parrot.internal.parrotminidrone- Start the drone using the below command *
>> rs.startDroneFlight- Please note that the drone takes off as soon as the above command is issued. It is suggested to set the power gain value to a lower value first, to avoid any unwanted accidents.*
>> rs.setPowerGain(10)You can get the flight log by using the 'getFlightLog' API. Connect the Parrot Minidrone over Bluetooth to host computer. In MATLAB Command Window, run the following commands:
rs = codertarget.parrot.internal.parrotminidrone(); rs.getFlightLog();A text file titled 'droneFlight.txt' will be downloaded to the current MATLAB directory.
From here, you can open the text file. Note that the sensor values, battery voltage and motor output values are printed in the log, which can be used to debug. An example file would look like this:
At the end of the log, you can see the if the flight successfully completed or if it stopped because of any error conditions. The following screenshots show some of the different conditions.
1) Successful flight completion:
2) Flight aborted due to the command ‘stopDroneFlight’ issued from MATLAB Command prompt:
3) No optical flow for 50 cycles. Whenever this issue arises, please try to start the drone on a different surface:
4) The drone stopped running during the flight because its battery percentage dropped below 50%:
5) If the values returned by accelerometer are extreme, the flight is aborted as a preemptive measure:
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