Parrot ANAFI Ai - Autopilot

10 v1.8
ToF: TI OPT3101
- Range: 0-15 m
- Resolution: 0.3 mm
- Bias: ± 2 cm (after calibration)
- Measuring frequency: 64 Hz
Vertical camera IMU: ICM-42605
- Gyroscope 3 axes
- Range: ± 2000 °/s
- Resolution: 16.4 LSB/°/s
- Bias/accuracy: ± 0.1 °/s (after dynamic calibration)
- 3-axis accelerometer
- Range: ± 16g
- Resolution: 2.048 LSB/mg
- Bias/accuracy: ± 2.0 mg (X-Y) ± 5.0 mg (Z) – after dynamic calibration
- Measuring frequency: 1 kHz
- Hardware synchronization with the vertical camera, accuracy: 1 µs
Autopilot
Key features
The ANAFI Ai flight controller offers an easy and intuitive piloting: no training is required to fly it. It
allows the automation of many flight modes (Flight Plan, Cameraman, Hand take-off, Smart RTH).
Sensor fusion algorithms combine the data from all sensors to estimate the attitude, altitude,
position and velocity of ANAFI Ai.
State estimation is essential for the proper functioning of drones. Quadrotors are by nature
unstable when the flight controller is in open loop; to pilot them easily, let alone to operate them
autonomously, it is necessary to stabilize them by closed loop control algorithms. These algorithms
compute and send to the motors the commands needed for ANAFI Ai to reach the desired
trajectories.
Estimation
ANAFI Ai estimates the states of the UAV from sensors measures via several data fusion algorithms
such as extended Kalman filters. The main estimated states are the following:
- Ground speed on x, y and z axes in drone frame, in [m/s]
- Attitude Euler angles (roll, pitch, yaw), in [rad]
- Accelerometer bias on x, y and z axes in drone frame in [m/s²]
- Gyroscope bias on x, y and z axes in drone frame in [rad/s]
- Magnetometer bias on x, y and z axes in drone frame in [mG]
- Pressure sensor bias, in [m]
- Position on x, y axes in NED frame, in [m]
- Altitude above take-off, in [m]
- Altitude above ground level, in [m]
- Wind on x, y axes in NED frame, in [m/s]
- Propulsion vector mechanical misalignment (roll, pitch)