Flight controller architecture

Flight controller architecture - FPV University

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Күн бұрын

Support my work / pawelspychalski
Welcome to another episode of the FPV Univeristy. In today's episode let's take a look at the general flight controller architecture. How all the sensors and radio control line are combined together. The key elements are: filter, sensor fusions and PID controllers. A lot of PID controllers. Who would have known?
0:00 Intro
0:12 How flight controller works?
0:45 General Architecture
1:13 Sensors
1:59 Radio input
2:28 Outputs aka Actuators
2:58 What does the heavy lifting?
3:52 Rate PID controller
5:32 Motor mixer and servo mixer
7:09 Self-leveling aka Angle mode
8:06 Position, altitude, heading, and attitude estimators
9:44 Navigation engine
10:51 Outro

Пікірлер: 26

@sunsetpark_fpv 2 жыл бұрын

This is wonderful. I love how simple you make it seem - you are a very intelligent human being. Thanks for this video.

@shadofpv 2 жыл бұрын

Smashed it once again mate :) 👍 some very good info in this video, ill watch you as long as I rc... forever ;) 👊

@MrD 2 жыл бұрын

Nice. FPV University is open!

@padcom 2 жыл бұрын

Finally something for us, nerds :D Thanks!

@ZenoErwt 2 жыл бұрын

Very very very informative! Thanks!!!

@AirfoilOne 2 жыл бұрын

Pawel, great video as always!

@HalfChrome 2 жыл бұрын

This is great. I'll be sharing this with my students. Thanks for taking the time to explain.

@AkoyTamad 2 жыл бұрын

Thanks, I learned a lot!

@michapeka2800 2 жыл бұрын

Super! Maybe some code review session?

@Cmensailing 2 жыл бұрын

You are awesome mate!

@FPVUniversity 2 жыл бұрын

Thank you!

@MattKeveney 7 ай бұрын

Just found this terrific video. At 10:29 you mention that the navigation engine will be covered in a separate video. Which video is that?

@MCsCreations 2 жыл бұрын

Excellent video, Pawel! Thanks a lot! 😃 Stay safe there with your family! 🖖😊

@ThePapanoob 2 жыл бұрын

fuck yea! this is exactly what i needed :D

@AerialWaviator 2 жыл бұрын

Very fascinating. Thanks for doing this overview of FC architecture. A number of interconnections are routed in a way that is different from what I'd expect (having an aeronautic aviation background). Not neccessry negative in anyway, just different than would have expected. Example, not seeing roll, pitch and yaw as axis managed control loops; this appears to be done by "self levelling / angle" block for pitch and roll, but yaw handled by the "heading estimator". Sensor data from gyro and compass take very different paths as they integrated into heading estimator. I can see how some of the architecture was influenced by the use of Wii controller, sensors and limited processing power early in the project. Find this interesting, and have number questions. Is there documentation on INAV architecture (or parts of) other that digging into the codebase? (ie: developer focused documentation, beyond the INAV wiki) It would be interesting to see how the architecture in INAV has changed from MultiWii and CleanFlight days, but that's likely a topic that only a small portion of your audience would appreciate. (ie: likley hard to justify your time to creating such video content)

@FPVUniversity 2 жыл бұрын

There are many ways to solve the same problem :)

@AerialWaviator 2 жыл бұрын

@@FPVUniversity Very true. :) This why I found this video fascinating. Besides reading code, and GitHub wiki, are there recommended references to learning about INAV, Betaflight, Cleanflight architecture? Thanks.

@FPVUniversity 2 жыл бұрын

@@AerialWaviator Most probably I'm the only source of this kind of information

@AerialWaviator 2 жыл бұрын

@@FPVUniversity Thanks. I'll spend time to study code before asking questions. Your video will be helpful to focus as I explore.

@devanshgulhane8814 2 жыл бұрын

@@FPVUniversity thanks for this video, I was looking for same info, tried to understand the code, but didn't get much further, will retry after learning from this video

@jackbisson9226 2 жыл бұрын

No not Flight Controller Architecture. I should just go back to radar builds and using products from Infineon and Texas Instruments. I just want to fly. Just messing with you Pawel, nice work as always.

@jimbrown563 2 жыл бұрын

Where can this Image-File be downloaded ???

@pilotmiami1 2 жыл бұрын

It's good. But my motor not spin.inav arm

@hristiantodorov3923 2 жыл бұрын

Nice! Inav software architecture looks better than the Betaflight one. Pawel, how often is the accelometer read in Inav ? In betaflight it is read every 1ms, but for 50ms there are measurements and then for the next 50ms no measurements at all. Betaflight is using the accelometer mainly for Angle mode, so I guess they don't care much.