I am working on a university project which consists in designing an hydrofoil 18 feet catamaran. We want to stabilize the "flight" of the catamaran by controlling electronically the flaps on the hydrofoils.
To do this, I want to use a LQR controller with gain scheduling. For that, I would need to use some look up tables. For the gains, I have approximately 13 tables of 25 double values each. I was looking for the Customizable Ardupilot Mega Electronic Set : http://www.udrones.com/ProductDetails.asp?ProductCode=EXPCK1 . I am not an electronic expert, so I was wondering if the board could handle the look up tables and all the code.
I would also like to know if it is possible to extract easily the linear velocities in 3 axes fixed to the body (x, y, z) from the IMU and the GPS because I would use those inputs with the controller.
Also, from my understanding, Arduino code has the same features than C++ code with function already built-in?
Thanks a lot for your help,
Linear velocity vector only from gps. Double integrating the accel vector doesn't work because the signal is too noisy. You must use other sensors. Wind, water speed, & mag heading for the short time, and gps data for the long time. The accelerometers just don't have the dynamic range or snr to get a distance vector.
Thanks for your answer. Is it possible to decompose the velocity from the gps in 3 axes? I know that 6DOF measurement units which are a fusion between a GPS and an IMU do it (like the Xsens MTi-G sensor for example), but I was wondering if I can do that with ArduPilot Mega Electronic Set.