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.
In the absence of GPS signal, ANAFI Ai relies mostly on the vertical camera measures for velocity and position estimation.
Vertical camera measures are given by two main algorithms:
- optical flow for velocity estimation
- keypoint detection and matching for position estimation:
Vertical camera algorithms are still able to run in low light conditions thanks to the fact ANAFI Ai is equipped with a pair of LED lights, located next to the vertical camera. These allow the drone to keep stability, especially when flying indoors or in a GPS-denied environment, below 5 m over the ground. The LED lights power adapts automatically, depending on the algorithms’ needs.