I already have 3 layer of thick double side tape! I don't have 2 blades, I'd rather use counter rotating 3 blades.
My kp and kd are very low (0.5 and 0.3) compared to yours. I would like to increase the kd for the stability but I…"
I made only part 2
I am still doing ground test and I have a vibration problem. If I hold it in my hand and I put enough throttle for hovering :
and with a ramp on the throttle :
How do you solve this problem?
I am working on a light ground station on Matlab to plot in real time several paramaters but there is still a lot of work to do. In the same time I am working on the VTOL aircraft which should flight alone soon.
Then I will have…"
I started few weeks ago to make a cleaner code from Jose's mini quad project. I use a library for PPM decoder and command (through a Pololu Maestro but I am planning to use the ServoTimer2 library). The code is more generic (for PID and…"
I found a variance of 0.11 using the variance function of matlab. (after I divided by 16 the sample).
"a plat" means with almost 0° of roll and 0° of pitch and "en biais" means with a lot of roll and pitch.
"I don't have magnetometers so the estimator cannot cancel the yaw bias. I think the problem comes from a bad offset compensation.
I don't really like the roll and pitch estimation. Sometimes the difference is around 3°. For a plane it…"
"Have you tried with the data I made in noisy conditions? I don't have all the softwares to run your code.
I agree with Doug, it is useless to compensate the temperature drift. (0.03% /°C of sensitivity change, according to the…"
"Right shifts are divisions but they remove some noise.
To increase to resolution by 2 bits (without adding noise) you need to take 16 samples and right shift 2 times (otherwise you increase the level of noise)."
You made a great job! Do you plot the whole file? Because there is around 6000 samples so at 150Hz it should last 40s.
Could you try with the attached data file? It is in presence of noise.
Could you also try with right shifting (instead of…"
"If you see one of my previous post you will see that the noise is more important on axis X for the gyros but I don't know if it is a gyro problem of if my "noise generator" generates more noise in this axis.
On the DCM code I use I…"
"ArduIMU 2+ doesn't have the high pass filter.
Do you use an oversampling error? or any averaging? Because I can't remove the yaw drift. Even just after the startup (after gyro offset calibration) the yaw is drifting (and other angles if I…"