DragonflyRobotics/Project-Zeta

Developing Dynamic Stabilization PID loop/Algorithm

Open

#2 opened on Dec 9, 2021

View on GitHub
 (1 comment) (0 reactions) (1 assignee)CMake (2 forks)auto 404
enhancementgood first issuehelp wantedquestion

Repository metrics

Stars
 (9 stars)
PR merge metrics
 (PR metrics pending)

Description

This robot is horribly imbalanced and needs a system of gyros and accelerometers. I made the circuit with an MPU-6050 6 axis IMU. But I am struggling to developed a simple Dynamic Stabilization algorithm.

Contributor guide

Research direction
Study basic PID control theory and sensor fusion for IMUs. Implement a simple complementary filter or Kalman filter for MPU 6050 data. Then code a PID loop to adjust motor outputs to stabilize the robot. Test on hardware and tune parameters.
Tech stack
cpp
Domain
embedded iotrobotics
Issue type
Research
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++Embedded SystemsControl Theory
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
45