I'm a student of Vienna University of Technology and I'm currently working on some drone related stuff. Together with my team I want to use drones to measure wireless communication performance (e.g. signal strength, data throughput, etc.). To do so a very stable hover is required. The drone should be able to hold it's position with an accuracy of about 5-10 cm (sub wavelength accuracy). I know that's a strong requirement.
Currently the used hexacopter (with it's PID control) is not able to fulfill the requirements.
I'm facing the following questions:
- Could a Model Predictive Control (MPC) improve the hover stability?
- Are the used sensors (see below) sufficient for the task?
- Would it be worth the effort of developing a MPC (I know that can be really time consuming)?
- Could a better performance be achieved by just tweaking the PID controller?
About the used setup:
- Aperture Hexacopter with HKPilot32 Flight Controller (Pixhawk based, FMUv2)
- Lidar (currently TFmini)
- ublox GPS