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Optoflow sensor stops...
Started this discussion. Last reply by Miro Dec 11, 2012. 1 Reply 0 Likes
Hello all. I have this issue on 2 quads running 2.8.1 on APM2.5. Sensor will just stop sending data. I noticed that first when I was adjusting focus on the lens and looking at the image, every few…Continue
Porting the DCM algorithm onto different platform
Started this discussion. Last reply by Miro Aug 11, 2010. 7 Replies 0 Likes
Hello all. I'm evaluating different algorithms for use in the autopilot hardware and have stumbled across the DCM algorithm, which looks very promising. So far I've tried complementary and kalman…Continue
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Miro posted a discussionOptoflow sensor stops...
Hello all. I have this issue on 2 quads running 2.8.1 on APM2.5. Sensor will just stop sending data. I noticed that first when I was adjusting focus on the lens and looking at the image, every few seconds I would have to restart the program to get few more images and it would stop again. After loading 2.8.1 and in CLI I can see dx and dy change for about 5-20 seconds but it always stops. The sensor has been connected as described here (for APM 2.5): …See More
Miro replied to Miro's discussion Porting the DCM algorithm onto different platform"Duh, of course. On my board i had "pitch" and "roll" reversed and didn't catch that. Thanks."
Ken replied to Miro's discussion Porting the DCM algorithm onto different platform"Pitch can not exceed +/- 90 degrees. So, yes, it is correct that when you pitch "more than" 90 degrees it counts back down and shows a roll upside down. Imagine pitching up to 90 degrees then going another 45 degrees. How is the aircraft…"
David Mobach replied to Miro's discussion Porting the DCM algorithm onto different platform"Here you can find a DCM implementation for the CHR-6d IMU, made by Vassilis:
http://vrhome.net/vassilis/dcm/"
Patrice Mainville replied to Miro's discussion Porting the DCM algorithm onto different platform"Aeroquad have an implementation of that in their trunk if i'm not wrong!"
Miro replied to Miro's discussion Porting the DCM algorithm onto different platform"Some observations
When I rotate around roll axis, algorithm correctly tracks. However, when I rotate around pitch, angle approaches 90 degrees, but instead of going over 90 it starts going back to 0 and at the same time roll quickly rotates 180…"
Miro replied to Miro's discussion Porting the DCM algorithm onto different platform"Sweet!! I'll try this out. Thank you very much!"
Greg Fletcher replied to Miro's discussion Porting the DCM algorithm onto different platform"Here is the latest version that I got to run an the 8 bit arduiono at 200 Hz. "
Miro posted a discussionPorting the DCM algorithm onto different platform
Hello all. I'm evaluating different algorithms for use in the autopilot hardware and have stumbled across the DCM algorithm, which looks very promising. So far I've tried complementary and kalman filters and was hoping to give the DCM a go. Looking at the source, it's heavily using the microchip's dsp library. Since I'm using 32bit atmel micro and float instead of, what I assume is fixed point, how straight forward is the conversion? Has anyone done it?Reading the pdf white paper, it mentions…See More
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