Date & Time: June 11th, 10:15 - 11:15
Location: Seminar Room M 3170-73 at Dept. of Automatic Control, LTH 
Author: Björn Fredlund
Title: Design, Implementation and evaluation of a Fault Detection, Isolation, and Emergency Control Strategy for a Quadcopter System
Supervisor: Björn Olofsson, Zheng Jia
Examiner: Bo Bernhardsson

Abstract:
In this thesis, a Fault Detection & Diagnosis system is developed for the Crazyflie 2.1 unmanned aerial vehicle. Different types of faults are investigated and suitable tests are implemented. The system is mainly developed for the lighthouse positioning, but the tests and methods are generic and suitable for other parts of the Crazyflie ecosystem. For the faults investigated, different methods of bringing the quadcopter to a landed state are explored. To keep user customizability high, different default actions are available to specify for each type of fault. The different actions are implemented as an extension of the onboard state machine and will cause the Crazyflie to respond to a fault in a certain way. Additionally, a propeller unbalance estimator developed in previous work is implemented and evaluated. The estimator was however deemed too model dependent and thus not suitable as a general service indicator across different Crazyflie setups and configurations.