"I first use my matlab code to calculate offsets and inverseW matrix from offline mag data. Then i use the calculated offsets and inverseW matrix in autopilot software directly. I have not experienced any problems in implementing theory so far.…"
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Ozan Aktaş's Discussions
Compansating hard-iron, soft-iron and scaling effects in magnetic sensors
Started this discussion. Last reply by Ozan Aktaş Sep 26, 2012. 5 Replies 0 Likes
Hi guys,i want to share my results about compensation of unwanted magnetic effects such as hard-iron, soft-iron and scaling/calibration effects.As we know that, since earth magnetic field is locally…Continue
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Ozan Aktaş replied to Ozan Aktaş's discussion Compansating hard-iron, soft-iron and scaling effects in magnetic sensors
avcs replied to Ozan Aktaş's discussion Compansating hard-iron, soft-iron and scaling effects in magnetic sensors"Great Work,
I tried your code and seems to be working fine.
Fig 1. before calibration, (Mx)
Fig 2: after calibration
I am new to…"
Ozan Aktaş commented on Chris Anderson's blog post Serves me right for calling it the "ArduCopter Calibration Dance" ;-)"Nice dance, as if i saw myself :) Please add an extra part to dance, "conducting a full turn with an upside down quad", since APM planner fits mag calib data to a sphere."
Ozan Aktaş replied to Ozan Aktaş's discussion Suggestions for Arducopter v2.6 (DCM+Quaternion hybrid) in the group ArduCopter Evolution Team"Yes, recent updates are about drift calculations parts, but state update and orthonormalization are still old the way around (DCM).
In DCM and quaternion hybrid code, update and orthonormalization are handled at the same time with out any…"
robert bouwens replied to Ozan Aktaş's discussion Suggestions for Arducopter v2.6 (DCM+Quaternion hybrid) in the group ArduCopter Evolution Team"in essence what has been implemented goes the wrong way ;-)
final coding and always have the total flight time in mind ups..
for me it works - simple and clean code.
in the mean time the base dcm got an update as well.
"
Ozan Aktaş commented on Dan Gray's blog post APMLogVisualizer version 1.32, with C# Source"Nice work! Yes it will be great if this tool is integrated into MP."
Ozan Aktaş replied to Ozan Aktaş's discussion Compansating hard-iron, soft-iron and scaling effects in magnetic sensors"Thanks Bot, you are welcome...
Ozan"
Jake Stew replied to Ozan Aktaş's discussion Compansating hard-iron, soft-iron and scaling effects in magnetic sensors"The problem is that we don't do any real calibration at all.
It's like you're trying to describe the best way to tune a jet engine to a grease monkey auto mechanic that didn't graduate high school."
Bot Thoughts replied to Ozan Aktaş's discussion Compansating hard-iron, soft-iron and scaling effects in magnetic sensors"Nice work!! I left off in doing this sort of thing many months ago when I ran into snags with the soft iron calibration and then ran into bigger issues that led to ditching a magnetometer for my rover. I never got it really figured out. Glad…"
Ozan Aktaş posted a discussionCompansating hardiron, soft-iron and scaling effects in magnetic sensors
Hi guys,i want to share my results about compensation of unwanted magnetic effects such as hard-iron, soft-iron and scaling/calibration effects.As we know that, since earth magnetic field is locally constant , the locus of all data points taken while a 3D magnetic sensor is rotated around every orientation, must be a sphere centered at origin. But in reality, it is generally a arbitrary rotated ellipsoid centered at some offset from origin. Hard-iron effects, scaling errors and soft-iron…See More
Ozan Aktaş replied to Dan Sibisan's discussion Microdrones claims 60 min of flight time for a Quadcopter ?"Hi Jani,
Do you know when these big disk motors will be on sale in Jdrones store?
Best,
ozan"
Ozan Aktaş replied to Randy's discussion ArduCopter 2.6 released!"Hi Joakim,
i had also the same issue today, uncorrect battery life percent status. It starts from %23 even i tried to change capacity of battery in mission planner. Is there a way to fix this bug?
best
ozan"
Ozan Aktaş replied to Ozan Aktaş's discussion Suggestions for Arducopter v2.6 (DCM+Quaternion hybrid) in the group ArduCopter Evolution Team"I pushed my branch about DCM-Quaternion hybrid implementation to arducopter git repository
http://code.google.com/r/aktaso-wip/
"
Ozan Aktaş replied to Ozan Aktaş's discussion Suggestions for Arducopter v2.6 (DCM+Quaternion hybrid) in the group ArduCopter Evolution Team"Hi Emile,
i had a real comparison today. I tried simple, altitude hold and loiter modes. As far as i could observed, DCM-Quaternion hybrid code performed better. Especially control of the quad was more stable and fast. I recommend to fly aggresively…"
emile replied to Ozan Aktaş's discussion Suggestions for Arducopter v2.6 (DCM+Quaternion hybrid) in the group ArduCopter Evolution Team"Ozan, I had a go at your code and it works pretty well. Unfortunately where I am now is very windy all the day, so it is difficoult to have a real comparison.
But I had more or less 6 batteries and had no issues at all.
What do you thing about gains…"
Ozan Aktaş replied to Ozan Aktaş's discussion Suggestions for Arducopter v2.6 (DCM+Quaternion hybrid) in the group ArduCopter Evolution Team"Yes,it is ok.
Bests,
ozan"
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- About Me:
- I'am an electronic engineer and software developer.
- Tell us a bit about your UAV interest
- I have been professionally in the UAV development field for almost 2 years. Interested in helicopters and quadrotors and anything which can fly itself.
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