6.7.1 Mode Control
This subsystem is used to change the operating mode
of the QBall 2 from open-loop joystick control to closed-
loop autonomous control. There are 2 switches used
to change modes for position and heading control. Op-
erating modes should only be changed in between ex-
periments when the model is not running or the system
may go unstable. Note that the height mode is fixed to
closed-loop, which forces the QBall 2 controller to con-
trol the height using the on-board sonar sensor. You may
choose to override the height mode and use the joystick
throttle input to manually control the QBall 2 throttle, but
this is a more challenging mode of operation and should
only be attempted if you have experience flying quadro-
tor helicopters and wish to do so at your own risk. The
closed-loop position and heading modes require a local-
ization system such as OptiTrack to control the position
and heading of the QBall 2. Joystick modes allow control
of the roll and pitch (position) and yaw (heading) from the
joystick.
6.7.2 Position Commands
This subsystem contains the reference commands (set
points) for the QBall 2 heading, height, and horizontal po-
sition. These commands are the reference points used in
closed-loop operating modes. If the QBall 2 is operated
in Joystick mode then these commands have no effect.
QBALL 2 - User Manual
DRAFT - April 6, 2015
