Self-Contained Autonomous Quadrotor

Documentation:

The state of the documentation of software and hardware implementation at the moment is virtually nonexistent. I must admit that I don't plan on documenting every aspect of the project to every detail, but would much rather pick a few topics and elaborate on the to the point, where people can learn something.

I don't expect this page to be a "How-to" guide for building an autonomous quadrotor, the same as mine. Neither do I expect that much of the software or hardware that I have designed will be used as a general platform. I simply don't have the time to write that much, while studying, working and completing the rest of the project.

I do however, hope to write a couple of interesting and inspiring posts, explaining the thought and theory behind the project.

Feel very free to comment on which aspects of the project you would like me to elaborate more on.

Visual Odometry:

If I have to get the quadrotor to successfully fly in the Robocup competition, I will have to find an alternative to the current visual odometry. One solution I am "toying" with at the moment is to rely primarily on the tape-lines that will be on the ground and use the edges to estimate my position, relatively to the center of the lines. This will hopefully allow the quadrotor to stay on the line, but the state estimate in the direction of the line will be quite imprecise.

Ideas are very welcome.

Absence:

I will be away on holiday trip for some time, so don't expect new updates in the forthcoming week or two. Sorry about that.

Thesis:
While I know it might not be super use full for the group of "hackers" here I will post a link to my thesis. There might be some mistakes, technical or grammatical. Feel free to contact me, if you find any.

The thesis is available in the GitHub repo https://github.com/skrogh/oDroidDrone

Source:

I was a bit hesitant to add a link to the source code as it, at the moment, is super super messy. I got a bit hurried in the end and have not had time to clean the code up.
Only the source code for the visual odometry and position controller is online at the moment.