"I updated my blog with some details and a picture
http://vrhome.net/vassilis"
Vassilis's Page
Latest Activity
Jamie Ahmed commented on Vassilis's blog post Testing of the CHR-6D IMU and DCM in a quad-rotor"Yes, a close-up of the potted board would be great.
-Jamie"
John_Mac commented on Vassilis's blog post Testing of the CHR-6D IMU and DCM in a quad-rotor"Great thank you...do you have a picture of the potted board?
John"
Vassilis commented on Vassilis's blog post Testing of the CHR-6D IMU and DCM in a quad-rotor"The gel is the Dow Corning Sylgard 527, I used 70% part B and 30% part A. Following is a link:
http://www.amazon.com/Dow-Corning-DIELECT-SYLGARD-DIELECTRIC/dp/B001E99I7C"
Vassilis commented on Vassilis's blog post Testing of the CHR-6D IMU and DCM in a quad-rotor"I used a Dow Corning dielectric gel (silicon based, two part gel), I will look-up the part number and let you know."
John_Mac commented on Vassilis's blog post Testing of the CHR-6D IMU and DCM in a quad-rotor"Can you give more details of the gel potting you did?
John"
William Premerlani commented on Vassilis's blog post Testing of the CHR-6D IMU and DCM in a quad-rotor"Vassilis,
Very nice, congratulations.
Bill"
Jamie Ahmed commented on Vassilis's blog post Testing of the CHR-6D IMU and DCM in a quad-rotor"Looks very stable! What kind of gel did you use for the IMU board?
Congrats!
-Jamie"
Vassilis commented on Chris Anderson's blog post T3 Contest, Round 3"Video from the last few minutes of the flight.
YouTube Video"
Vassilis commented on Chris Anderson's blog post T3 Contest, Round 3"Far from a winning entry but we got a break in the weather around here so I decided to give it a go. I used my EasyStar with a 2200mAh battery and all video equipment (pan/tilt pod, camera and transmitter), so there is no way I can compete with…"
William Premerlani left a comment for Vassilis"Vassilis,
Oh, no!! I was seriously considering using the IDG-500 on the next revision of my board, but now you tell me that they are vibration sensitive!! That's not good.
Looks like I may have to go with the Analog Devices ADXRS. They are…"
Vassilis left a comment for William Premerlani"Bill,
The only other gyro I have used is the IDG-500 and it was sensitive to vibration to the extend that at high throttle the bias would drift.
Vassilis"
William Premerlani left a comment for Vassilis"Vassilis,
The only gyros that we have tested are the ST LISY gyros and the Analog Devices ADXRS gyros. We found that the Analog Devices are immune to vibration, but the ST LISY gyros are very sensitive to vibration.
Using a higher sampling rate on…"
Vassilis commented on Chris Anderson's blog post T3 Contest, Round 3"Gary, Chris: why put the limitation of a single ascent/descent per circle? If for example my model can climb up and down twice in a single circle will that be acceptable (while not exceeding the 400ft limit)?
If a single ascent and descent is…"
Vassilis commented on Jano Visser's blog post Paparazzi I2C programming"Using the i2c library in Paparazzi is very easy. I used it a few weeks ago to interface with the EagleTree airspeed and altimeter sensors. Have a look at the baro_ets and airspeed_ets files in the sw/airborne directory."
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Vassilis's Blog
Testing of the CHR-6D IMU and DCM in a quad-rotor
Posted on December 31, 2009 at 9:00am 8 Comments 0 Likes
For those of you that have a CHR-6D IMU, I thought that you might be interested on the testing I have done on a quad-rotor. I basically took the open source software that comes with the IMU and implemented Bill's DCM algorithm on the on-board STM32 MCU. Then I interfaced the IMU with the quad-rotor controller (I had this done a while ago) and was able to have a fairly stable flight. It is not perfect but definitively usable. To reduce the effect of vibration on the… Continue
Comment Wall (4 comments)
- At 7:01am on October 11, 2009,
Rana said… - Hi !
Where did you get Paparazi hardware ?
Which version it is ?
How much it costed it to you without shipping charges ?
How can I buy one like this ?
Regards
Rana
- At 5:12pm on October 12, 2009, Rana said…
- Vassilis,
How much it costed you ?
- At 7:12am on November 7, 2009, William Premerlani said…
- Vassilis,
The only gyros that we have tested are the ST LISY gyros and the Analog Devices ADXRS gyros. We found that the Analog Devices are immune to vibration, but the ST LISY gyros are very sensitive to vibration.
Using a higher sampling rate on the LISY gyros will help with small vibration, but if the vibration is large enough, we think that the gyro resonates and "rattles", producing a nonlinear effect that leads to a large offset. In other words, there is nothing you can do to fix the LISY gyros when there is large vibration.
We have done testing on a conventional helicopter, but not with a quadcopter. Possibly the quadcopter has less vibration than a conventional helicopter.
In any case, I would be very interested in what you learn.
Best regards,
Bill
- At 12:26pm on November 7, 2009, William Premerlani said…
- Vassilis,
Oh, no!! I was seriously considering using the IDG-500 on the next revision of my board, but now you tell me that they are vibration sensitive!! That's not good.
Looks like I may have to go with the Analog Devices ADXRS. They are more expensive and will have to mount vertical, but they work well, and are vibration-proof.
Guess I will have to buy some gyros and do my own testing.
Bill
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