https://github.com/xpbowler/tvc-rocket
thrust vector controlled rocket w/ madgwick filter, PID
https://github.com/xpbowler/tvc-rocket
c kalman-filter madgwick-filter thrust-vector-control
Last synced: 3 months ago
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thrust vector controlled rocket w/ madgwick filter, PID
- Host: GitHub
- URL: https://github.com/xpbowler/tvc-rocket
- Owner: xpbowler
- Created: 2022-10-09T21:42:06.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2024-01-13T23:24:28.000Z (over 2 years ago)
- Last Synced: 2025-02-27T13:23:00.328Z (over 1 year ago)
- Topics: c, kalman-filter, madgwick-filter, thrust-vector-control
- Language: C
- Homepage:
- Size: 495 KB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 1
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Metadata Files:
- Readme: README.md
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README
## About
The software behind a thrust vector controlled (TVC) rocket - a rocket able to change its thrust direction based on attitude (orientation in 3D space).
The program has four main steps:
* Estimate attitude from an inertial measurement unit (IMU) and barometer by advanced sensor-fusion algorithms: Madgwick filter and Kalman filter. Uses quaternions to represent 3D orientation.
* Proportional – Integral – Derivative (PID) controller actuating servo motors in TVC mount (changing direction of thrust)
* Live wireless flight data transmission to ground station
* Parachute ejection at apogee
## Dependencies
The software is to be run on a rocket flight computer — ```main.cc```. An STM microcontroller (Teensy 4.1) was used during this project.
Requirements:
* Hardware: Flight computer with CPU, IMU, barometer, and 3 servo motors
* Attitude estimation: https://github.com/xioTechnologies/Fusion