Developer Comment by jasonshort on May 19, 2012 at 9:40am

Daniel, 

I''m pretty far on a second version that includes the stability routines. It will also do navigation and include the Nav PIDs.  

Developer Comment by jasonshort on May 19, 2012 at 9:42am

I've got another 2-3days work to finalize it.

Developer Comment by Ryan Beall on May 19, 2012 at 10:57am

Jason, That's not exactly what you want to do.  You don't want to derive a separate state from the gps measurements.  You want to smooth the ones you already have!  So Speed would output a smoothed speed and position x&y would output a smoothed x&y position.  

Speed over ground = SOG

SOG_estimate = SOG_now + (SOG_now - SOG_old);

Developer Comment by Ryan Beall on May 19, 2012 at 11:22am

And you can tweak it if you want by doing something like this:

SOG_estimate = SOG_now + K*(SOG_now - SOG_old);

Where K is some gain typically 1 or less and always positive.

Developer Comment by jasonshort on May 21, 2012 at 10:08am

Thanks Ryan. I'll try it. 

Comment by Christiaan van Vollenstee on May 21, 2012 at 11:37am

All is very awesome and all, but what if I have a 10kg Quad running twin 20 volt batteries with 1000Wat motors and a 4kg scientific camera. I feel you need to include these variables because alot of people create their own styles and is very hard to test those PID's across the APM.

 

Regards

Developer Comment by jasonshort on May 21, 2012 at 11:51am

Here's a question. If you could have a SIM that had all of these factors and could simulate virtually all of AC flight (but 2d Only) what would it be worth? Would you donate towards its development?

Jason

Comment by CharlieNoFun on May 21, 2012 at 11:58am

I would donate! It would be neat to have an web based sim where you enter all your copter measurements, motor speed, weight... Then get an starting spot for PID's specific to the parameters you enter :)

Comment by Christiaan van Vollenstee on May 21, 2012 at 12:08pm

I recon what made this product sooo successful is that there is not just the hardware but there is software supporting the product as well and as a software developer I know that no piece of software will ever become grate if there is no criticism and external inputs.

Developer Comment by jasonshort on May 21, 2012 at 12:37pm

I'm asking because I'm developing a very sweet SIM and it's quite an effort. It will have all of the AC params and some hardware details like Kv and weight. I'll probably post more in a week.

Jason

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