#drone #uav #machinelearning #robotics #electricalengineering #mechanicalengineering #aerospace #aerospacemanufacturing #mpc #controltheory #kalmanfilter #esc #battery #motors #stm32 #arduino #teensy #microcontroller #mechatronics #reinforcementlearning
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The tutorial link will be provided later on.

Here is a spoiler of what you will learn in the second tutorial on building a low-cost drone and a control system from scratch. Here you can see an experimental setup I created in order to test the control of a drone DC brushless motor. The motor is controlled by using a Teensy 4.1 microcontroller. Currently, I am using Teensy, however, I will also test stm32 microcontrollers. Teensy microcontroller is attractive since its programming is very similar to Arduino, however, it is more powerful than most Arduino boards. The microcontroller generates pulse width modulation or briefly, PWM signals that are sent to the motor driver shown over here. The PWM signals are shown on the oscilloscope.

This is a low-cost motor driver, rated for 40 amps motors. This might be an overkill for the motor I am currently using. The motor is a low-cost brushless motor with a motor velocity constant of 920 KV. This motor should provide around 500 grams of thrust. This is actually a significant thurst for such a small motor that weights only maybe 30 or 40 grams. Here, since I am performing tests, I attached a cardboard propeller instead of the real 10-inch propeller. I do not want to injure myself while learning how to control the motor.
The motor driver and the motor are powered by using a lithium polymer battery with a capacity of 1500 milli-amps per hour and with a nominal votalge of 11.1 volts. The drone will actually be powered by a 5200 mili amp hour battery. In the tutorial, you will learn how to generate PWM signals in Teensy, and to change the duty cycle of the PWM signal. By changing the duty cycle, we control the angular velocity of the motor.