Testing a custom quadcopter flight controller I developed on a Zynq-7000 SoC using the Zybo Z7-10 FPGA SoC Development Board.
Currently, the flight controller uses PID controllers in conjunction with a 6-axis MPU-6050 accelerometer and gyroscope for flight stability. It has two flight modes: Rate Mode (Acro Mode) which uses a single loop PID controller, and Stabilize Mode (Self-Leveling Mode) which uses a dual loop PID controller. Stabilize Mode is demonstrated in this video.
Additional sensors (barometer, GPS, magnetometer, camera, etc.) are being integrated to enable features such as altitude hold, position hold, and object avoidance/detection.
#xilinx #drone #flightcontroller