The Thopter Foundry

August 9th, 2023

By: Vincent Lam

In our quest to build controllers from scratch, we have run into a pretty large road block that none of us know how to obliterate. That block is mapping the hexa-copter’s dynamics to controls, which will require quaternions and translate individual propeller speeds to the overall system’s movement. We will also have to define dynamics within an inertial and body frame, but we are determined to do this from scratch! It’s a lot more fun that way :^)

We will definitely need to postpone the project so that we can learn more about controls during this upcoming Fall semester in our courses.

Here’s the paper we are looking at if you are interested.

Until next time, friends!