Applying failsafe algorithm to Crazyflie 2.0

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niekniek123
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Joined: Wed Sep 07, 2016 1:40 pm

Applying failsafe algorithm to Crazyflie 2.0

Post by niekniek123 » Thu Sep 08, 2016 7:12 am

Hi,

For a graduation project, I was planning to buy a Crazyflie 2.0 and perform a failsafe algortihm to land the Crazyflie safely if a propeller / motor stops in mid-air. Just like in this video: http://robohub.org/quadrocopter-failsaf ... ller-loss/

But when looking at the video, two questions pop in my mind:

- Can I modify the Crazyflie 2.0 so that I can arrange the speed of each motor seperately? (even turn one single motor off during fligt?)
- Are the DC motor speed controllers fast enough to perform such a failsafe algorithm? Or is it better for me to look at AC motors with an ESC.

Thanks in advance,

tobias
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Joined: Mon Jan 28, 2013 7:17 pm
Location: Sweden

Re: Applying failsafe algorithm to Crazyflie 2.0

Post by tobias » Tue Nov 29, 2016 9:00 am

Hi and welcome to the forum!

I've seen other attempts at this but can't remember if they where posted here on the forum. From what I've learned the biggest problem is the rotation rate the CF2 gets when flying with only three motors (because of the low inertia). From what I understood it is faster then the 2000 deg/s the gyro can measure so controlling it becomes really hard. However making a controlled descent might be possible.

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