MATLAB Answers


How can I increase the Hover height of the Quadcopter Parrot Mambo without causing instability?

I am trying to simulate a flight path using the Parrot Mini-drone example given by asbQuadcopterStart. Any trajectory that is set to go above 2.1 m causes the drone to go unstable (rolls or pitches back and forth until a model assertion terminates the simulation). How can this be fixed? The documentation link to the Quadcopter Project is given below:


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1 Answer

Answer by MathWorks Support Team on 19 Apr 2019
 Accepted Answer

The optical flow subsystem (asbQuadcopter/Sensors/Sensors (Dynamics)/Sensor System/Camera) is a crude representation of the optical flow sensor onboard the Rolling Spider/Mambo.
Changing the "velocity to optical flow" gain value (Sensors.velocityToOpticalFlowGain) from 1.0 to 0.75 will allow you to increase the altitude to 2.5m without the xy instabilities that were observed previously. You can continue to manipulate this value as the altitude changes.


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