I am wondering if anybody has been able to do any sort of characterization of the attitude estimation accuracy of the APM 2.0. I asked on the Blog Post 'Great lecture on the Outback Challenge by APM developer Andrew…

Hi all,

a while ago, I wrote about control structure and started a discussion. Now the discussion about PIDT1 is going on also in the "…

Hi,

I changed the attitude control loop a little bit to achieve more stability. Rate control with a PID(T1) instead of a PI controller. Here I present the necessary changes in the code to do this.

Pro:

1. Much more attitude stability
2. Much faster response on disturbances or new setpoints

Con:

1. You need to tune the control loop again after this change
2. This change is experimental, it works for me but you do it on…

I'm building my own inertial navigation system --- one that isn't super complex, doesn't involve fancy filters, yet will provide plenty of accuracy. It's all about purposeful building... designing and building for what it WILL do, not what it MIGHT or could possibly be able to do.

With…