Topics
Unveiling the Magic: The World of Quadcopter Dynamics
Quadcopters at Your Fingertips: A Journey with MAVLINK
Mastering Ardupilot: Cloning, Building, and Crafting Custom Code
Abstract
This tutorial is designed for those interested in starting research on quadcopters with a practical focus. We will begin by looking at quadcopter dynamics and mathematical modeling. Next, we’ll compare different flight controllers and explore common firmware used in research. Then, we’ll introduce the Ardupilot project and its simulators for preliminary testing. We will also compare ground station softwares compatible with Ardupilot. Additionally, we'll delve into the MAVLINK protocol and the associated Python and C/C++ libraries for controlling the quadcopter. Finally, we will discuss modifying the Ardupilot code to implement various control algorithms. We'll conclude by exploring how to build, simulate, and upload code to a real flight controller for physical testing.
