Bryan's Drone Report

When we first started working with the AR drones, me and other classmates were checking the hardware and mechanic stability of each drone. I helped examine each drone, as well as test each of the drones in freeflight to determine which drones worked the best and which ones could not be used. Many of the drones had problems, and while working with autoflight, more drones became unusable.

When I first started working with autoflight, I had little to no issues with making my code until the last days of working. I spent the first 2 days trying to figure out how to make the drone flip through autoscript, but I had to abandon that idea since the flip command did not work. For the rest of the working week, I resolved to make a code for the drone to fly forward then back to make it stop, rotate 180 degrees, and move around in a small circle. One difficulty I had in doing this was that I tried using the abstracted rotate command in my code, and my drone would not rotate. Also, the drone would go out of control when I was using the rotate command in my code, which was also a big problem my peers had. I had to stop using the rotate command entirely and use the move_time command, setting numbers for phi and yaw and also the time I wanted the drone to keep flying in a circle, and setting all the other inputs to 0. I also had to stop using the up command because when I used it, it would keep going up. This may have been because I set it to keep going up until it reached a certain altitude, but I also set a time limit, and the drone would still lose control, so I had to take the up command out of my code.


This is the final code I made:

This is my drone flying with my final code:

This is a video of our robot bird functioning without the mouth moving (it got stuck and we could only move the wings and legs). Also, today we finished watching and reviewing other people's presentations during class and we will begin to study matlab in the next class. Enjoy!

11/26/18-
Here is the link to the Lab 3 report and presentation.

11/19/18- Today, Sara and I completed making our legs to our bird robot. We were able to make the mechanism for our legs work successfully and we have completed the entire robot. By tomorrow, we will begin the lab report.

Today, Bryan and I connected the to bar to the main frame. We then continued to work on the legs and tightening all of the loose nuts on the wings and frame. Also, we added the legs to the bottom of the frame (below the wings) and we tested to make sure our wings and mouth still functioned and they did.

Today, Bryan and I worked on our parts of the project. I added the other aspect of the leg to my part of the project and Bryan replicated the part of the wing and gears that were not working when he originally added it to the frame.

today, Bryan worked on attaching another set of wings to his original creation and I referenced Mr. Lin's powerpoint in order to begin to replicate the Jasen's leg movement. I need to add another end to it and attach another collar shaft to make it more functional at the joint areas.