Airframes

QUTAS Schematics

See the repository folder for schematics.

Reference Documents

Depending on your autopilot, you may be expected to setup motors, servos, etc., to in specific locations. Additionally, it is critical that the connections to the flight controller are as expected by the flight software.

PX4

A list of supported platforms and references can be found at on the PX4 Developer Wiki

Robin

At time of writing, the robin flight controller only supports the QUAD_X configuration, and matches the documentation in the PX4 Airframe Reference. Please double-check the robin repository for compatibility before flight.

Integrating with Local Positioning Systems

It is likely that you will have to perform some sort of integration with indoor testing facilities, or with systems that otherwise are able to provide a local equivalent to GPS.

VICON Positioning System

The VICON system uses infra-red cameras to locate various markers, mounted to an object or UAV, which are then used to track the motion. A key point in this setup is the positioning and layout of the markers on the robot. While the marker placement is more of an art than anything else, the following points should be considered:

• The VICON markers are (typically) 14mm in diameter
• The VICON markers have a mounting hole for a standard M4 screw.
• Approximately 5 markers are needed for a good pose fix, 10 markers is bordering excessive (aim for 6-8).
• For UAV applications, markers should be placed on the top of the craft to ensure Line of Sight (LoS). Most VICON systems have the cameras mounted on the roof, so having the markers visible when standing above the drone is best practice for good LoS.
• For typical quadrotors, markers can be placed on landing gear, under propellers (do no put all markers under propellers if possible, as props will block LoS).
• Markers should be as rigidly fixed as possible. Movement in the markers between or during flight will cause tracking issues, and will require recalibration.
• Markers should be as asymmetrically as possible. The VICON software will warn you if you placement is not sufficient. Placement ideas:
  • Place two markers on one leg of the multirotor, but only 1 marker on the opposite leg.
  • Make triangular patterns, such that all sides are different lengths.
  • Marker height variation is also good for asymmetry and tracking accuracy.
  • Markers should be at least 5cm away from each other, otherwise the system will get confused.

Fixed-Wing

Comparison of Common Styles

Propulsion

Multirotor

Comparison of Common Styles

Propulsion

Helicopters

Comparison of Common Styles

Propulsion