Tracking a Square Trajectory, Twice

Overview

• The drone flies a square reference roughly five to six feet per side, two consecutive times over the checkerboard arena, holding altitude through eight sharp corner transitions.
• Flying the same lap twice back to back makes lap to lap consistency, and any accumulated drift, directly visible against the arena floor.

Design & Build

• Reference: Built on the minidrone waypoint follower project: the square's corners become waypoints in a timed position reference fed to the position controller.
• Control: The Simulink control model tracks the reference through four sharp heading changes per lap, twice.

Challenges

• Corner overshoot at each of the eight sharp heading changes.
• Position drift accumulating between the first and second lap.

Result

• Two consecutive laps of the square flown on hardware in one take.

Skills & Tools