BFR (acronym up to interpretation) is a <1 lb, single stage, active fin control rocket designed, built, and launched for the aerospace engineering capstone course (10 weeks), powered by an AeroTech F50-6T motor, 3 digital servos, Teensy 4.1 microcontroller, AltIMU-10 sensor, and 2 1s LiPos. The controls objective is to fly a straight line trajectory maintaining the rocket's attitude from launch and counteract aerodynamic disturbances.

Personally responsible for the entire controls design and implementation, electronics assembly and manufacturing, and flight software and testing.

CDR Presentation

Controls Scheme

The control scheme was implemented with a estimator-controller-mixer-actuator based approach. The estimator utilized a Madgwick AHRS Filter that fused gyroscope, accelerometer, and magnetometer measurements. The controller implemented a quaternion based PD-controller with experimental tuning. The mixer used inverse-kinematics to map outputs to the 3 fins.

Testing