Section 3: Control Utilities.

================== Control Utility 4: =================

............... Emergency Motor Control ...............


During the development of an autonomous drone, field-testing is required and essential. This however is not without risk. A software bug or an other technical problem may result in the drone getting out of control, and heading off in an unplanned, unwanted direction. In the start-up phase the motor is by the flight-controler revved-up to a level of something like 50% of take-off value. Then the user increases the power manually. For this a fully independent motor control system based on a transmitter and receiver is integrated in the motor control. The receivers PWM output signal is converted into an analog signal by the servo-10K potmeter unit as shown in below Fig.1. Via the analog input pin 14 of the Teensy the signal is processed with the ADC and added to the motor PWM control signal. Finally the power increase required for take-off is controled by the user with the transmitter signal activating the throttle servo for full throttle.

Emergency Motor Control System.

Control Utils4-Fig.1: Auxiliary Emergency Motor Control System.

This from the flight-controler independent system enables the tester to interrupt unexpected, uncontrolled flight behavior. By reducing the motor power the drone is forced to "land". In Section-4 the source code of this emergency control system can be found in file: "21_Emergency_Motor_Control.ino"

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