Flight Control and Stabilization of Drones

Jun 22, 2024

This article investigates causes of flight instability occasionally observed in Unmanned Aerial Vehicles (UAVs). The issue manifests as unexpected oscillations that can lead to emergency landings. The analysis focuses on delays in the Extended Kalman Filter (EKF) algorithm used to estimate the drone’s altitude, position, and velocity. The authors propose moving the magnetic field estimation calculations to a separate, lower-priority thread so as to not cause delays in the main EKF loop.

The UAV firmware is based on the FreeRTOS real-time operating system. With the help of Percepio Tracealyzer, any anomalies can be detected.

Read the full article

Percepio Contact:
Mike Skrtic
+46 76 003 0080

Media Contact:
Monika Cunnington, PRismaPR
+44 20 8133 6148