""I was warned that the LISY gyros that are used on the red baord would have a problem with vibration... "
Hi Bill,
can you expand why is this the case in comparison to some other gyros (or point to some reading material)? Is it mfg…"
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William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Kevin,
Since the last time we discussed the odd roll behavior that you were seeing, I finally figured out that there can be a vibration issue with the red board. I was warned that the LISY gyros that are used on the red baord would have a problem…"
Krzysztof Bosak commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?""With regard to your second point, I have no strong opinion, I have been avoiding magnetos. It seems to me they are not worth the trouble for use in airplanes, where GPS can be used for yaw information. For helicopters they are great.…"
William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Kevin,
Regarding your question about what happens with my firmware in stabilized mode if the GPS is lost. The answer is that it uses the last GPS reported value of velocity in the centrifugal compensation calculations.
Bill"
William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Kevin,
Did you run the roll-pitch-yaw demo? It is a good way to check the board, its easy to do, and it would not take very long. It is possible that the connections to one of the gyros might be cracked, the roll-pitch-yaw demo will functionally…"
Kevin Reilly commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Hi all,
No luck on the GPS, I never could get the light to come back on, so either the module is dead or just the right (er, wrong) traces cracked on the DevBoard pcb. I'll have to order a new GPS, it might be a week or so before I test again,…"
William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"@Krzysztof,
By the way, I just realized that I mispelled your name in my last comment. I am sorry, my mistake. With a name like Premerlani, you would think that I would be more careful with the spelling of names. But you have to admit, Krzysztof is…"
William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Jordi,
I agree with Kryzsztof on his third point, you cannot integrate the accelerometer to unbias the accelerometer. Thanks, Kryszztof.
Krysztof,
Thanks for pointing these things out. I enjoy the sorts comments that you often make. You generally…"
Krzysztof Bosak commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"I think you are missing 3 details:
-centrifugal correction is cool when your turns are coordinated. when they are not, an offset is introduced.
-3D magneto needs already well converged IMU and the knowledge of angles
-estimating gspeed by…"
3D RoboticsJordi Muñoz commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?
"Hehe,
Thanks! I already have the code to decode ublox, so export it to PIC should not be difficult. When you are ready i can send you the code.
Doahh sorry of what i said about magnetometers. I was taking breakfast and i remembered what i said.…"
William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Jordi,
Your wish is my command....;-) Just tell me what you want, I'll work on the next version of my board this winter when the cold winds are blowing and the snow is falling, and deliver it to you in the spring.........
Back to your…"
3D RoboticsJordi Muñoz commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?
"And uBlox Bill and uBlox. =)
Great explanation (second time for me) thanks! I was wondering how the other IMU's with no GPS compensate the centrifugal acceleration, integrating the magnetometer?"
William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Dave,
For some calculations you need air speed, for others you need ground speed.
It would have been nice if I had included a dynamic pressure sensor in the UAV dev board, but I figured out how to work around it by using the IMU to achieve tight…"
William Premerlani commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Dave, Kevin, and Jordi,
It is not possible to add a dynamic pressure sensor to the UAV dev board.
Any IMU calculation method that uses accelerometers in the calculation of attitude should compensate for centrifugal acceleration, otherwise you…"
Dave_fr commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"I have a question,
Would it be possible to add a dynamic pressure sensor to the UAV dev board ?
Does the firware calculates an estimation of the I.A.S to do the gain adjustement ?
Best regards,
Dave"
Kevin Reilly commented on Kevin Reilly's blog post Odd roll behavior with MatrixNav?"Thanks for the quick response guys! very helpful.
Bill, your explanation for the crashes makes a lot of sense, I agree that's likely what happened. Thanks for not making too much fun of my newbie piloting skills too, haha. If anyone else wants…"
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Kevin Reilly's Blog
Odd roll behavior with MatrixNav?
Posted on July 17, 2009 at 4:21pm 24 Comments 0 Likes
Hi all, I'm new here. I'm trying to get an IMU based UAV up and running to do some research into higher level mission planning. I decided to go with William Premerlani's UAV DevBoard, but I'm having some problems with the MatrixNav firmware. I'm using a Parkzone Radian powered sailplane (3 ch, no ailerons).
Right now I'm running without a GPS (it died in the last crash I think), but I mainly want to verify that pitch stabilization works with our airplane. So, the only modifications… Continue
Right now I'm running without a GPS (it died in the last crash I think), but I mainly want to verify that pitch stabilization works with our airplane. So, the only modifications… Continue
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