There hasbeen increasing discussion of application of the UAV Dev Board IMU approach to CCPM RC Helicopters. Bill and I thought it would be useful to start a thread on this specific topic and see what interest there might be.
My particular interest is to initially implement a stabilization system on my TREX 450SE Heli. Loftier goals of AP with RTL and WPs may well follow.
If you are interested in something similar, please post and describe your interests. Perhaps we can help Bill on some of the CCPM-specific issues.
Note: The Heli and Quad discussions have been moved to:
With the code and documentation at:
Can you indicate where and how the changes should be done in MatrixPilot 2.5.1 in order to raise the sampling rate at 5000 Hz?
In the UAVmanual available online it is also said that the sampling rate should be 5000 and that the servo output rate can be as high as 40 Hz.
I just measured the sampling rate of MatrixPilot 2.5.1, it is 1200 samples per second for each channel.
To raise it to 4800 samples per second, change the ADCS field in ADCON3 from 111111 to 001111.
You should also change the filtering parameter, FILTERSHIFT, to combine 4 times as many samples as it does now. Change FILTERSHIFT from 3 to 5. If you have a UDB2 and are having trouble with vibration, you might try raising FILTERSHIFT a bit more, maybe to 6 or 7, along with raising the sampling rate from 1200 samples per second to 4800 samples per second.