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Software integration of electronic speed controller (ESC) for an unmanned aerial robot

Abdelrahman, H. (2021) Software integration of electronic speed controller (ESC) for an unmanned aerial robot.

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Abstract:In this bachelor thesis, the software integration of Dshot protocol was implemented on a hex rotor Unmanned Aerial Vehicle (UAV). Dshot protocol is a digital form of communication between the motor controller and the electronic speed controller (ESC), thus making it advantageous over analog methods when it comes to noise level and performance speed. To implement Dshot the KISS ESC is used since it can run Dshot protocol, and it is connected to the Teensy microcontroller running the motor control program. The implementation was done using Genom3, which is a tool to design real-time software architectures to systems such as autonomous mobile robots. The integration will be done by modifying an existing Genom3 component that can communicate with the hardware connected. The modification will be done to allow serial communications with the teensy that is connected to the KISS ESC. The data was collected by testing the Genom3 component on a single motor using the functions and services implemented in the modified Genom3 component. Then this modified component is simulated it using Gazebo, which offers simulating populations of robots in different environments. Finally, a flight test will be done on the UAV with all the 6 motors.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/87630
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