vault backup: 2025-02-03 07:04:13

OneNote/OSD/Courses/Arduino Low level.md

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-## Timers available on Arduino Uno
-
-  
-![Name 
-TIMERO 
-TIME-RI 
-TIMER2 
-Size 
-8 bits 
-(0 - 255) 
-16 bits 
-(0 - 65,535) 
-8 bits 
-(0 - 255) 
-• 
-• 
-Possible Interrupts 
-Compare Match 
-Overflow 
-Compare Match 
-Overflow 
-Input Capture 
-Compare Match 
-Overflow 
-• 
-Uses in Arduino 
-delay(), millis(), micros() 
-analogWrite() pins 5, 6 
-Servo functions 
-analogWrite() pins 9, 10 
-tone() 
-analogWrite() pins 3, 11 ](Exported%20image%2020231126171856-0.png)  
-
-If we use Timer 0 for something else, the arduino functions delay, millis, … won't work properly anymore.

OneNote/OSD/Courses/EdX Autonomous Navigation for Flying Robots.md

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-## Sensors
-
-GPS: Accuracy: 3-5m, @2Hz
-
-Indoor: 1mm @ 200-500 Hz
-
-## Research
-
-[https://vision.in.tum.de/publications](https://vision.in.tum.de/publications)
-
-  
-
-## Geometry
-
-Invert, concatenate, estimate, optimize 3D orientation
-
-## Algorithms
-
-IMU Strapdown Algorithm
-
-Control Theory
-
-![Cascaded Control 
-Robot 
-Localization 
-Attitude Estimation 
-RPM Estimation 
-Sensors 
-Jürgen Sturm 
-Trajectory 
-Position Control 
-Attitude Control 
-Motor Speed Control 
-0.1 Hz 
-10 Hz 
-1 KHz 
-10 .000 
-Actuators 
-Quadrotor 
-Physical World 
-Kinematics 
-Dynamics 
-Autonomous Navigation for Flying Robots 
-17 ](Exported%20image%2020231126171859-0.png)  
-
-Watch out: The inner control loops must be around an order of magnitude faster than the outer ones, such that they appear "static". If not you can get interference between the two