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…Continue
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.
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.