Comment by automatik on May 3, 2009 at 10:18am

Congratulations on successful flight!

Comment by OlivierD. on May 3, 2009 at 2:00pm

Well done Bill. Does the new code control roll and pitch only or does it still handle yaw as well?
I hope you have a video of this grand moment to share!
Regards,

Comment by William Premerlani on May 3, 2009 at 2:05pm

Olivier,
Thanks. The new code controls roll, pitch, and yaw, through the ailerons and elevator. It controls pitch and roll directly. It controls yaw indirectly by banking the plane, and pulling up elevator just the right amount to make a level turn. It leaves the rudder, if any, alone. It doesn't need it.
I do not have any videos, I like to leave that to someone else.
Best regards,
Bill

Comment by OlivierD. on May 3, 2009 at 2:52pm

Well done Bill, by the time the new boards roll out of sparkfun, I should have enough money saved up to buy one. Quick question, as far as ICD2 programmers go, I found 2 at sparkun, which one would you recommend?
Option 1:
http://www.sparkfun.com/commerce/product_info.php?products_id=5
Option 2:
http://www.sparkfun.com/commerce/product_info.php?products_id=8558
I kinda like Option2 if it works with your board.
Thanks,
Olivier,

Comment by William Premerlani on May 3, 2009 at 3:25pm

@Olivier regarding ICD2 programmer...
Funny you should ask....I have received several reports recently of problems with Option 2. Apparently, Option 2 has some issue with the dsPIC30F4011. I am going to buy one myself and see if I can figure out what the problem is. In the meantime, you should go with Option 1. It is the same one that I am using now, its done fine for me for 6 years:
http://www.sparkfun.com/commerce/product_info.php?products_id=5
Best regards,
Bill

Comment by OlivierD. on May 3, 2009 at 3:42pm

@Bill: Sounds good, it's cheaper anyways. Option2 seemed more practical for programming at the field but I'll go with your advice. I guess I can install it in a case to protect the circuitry so it doesn't get damaged at the field. Thanks again.
Olivier.

Comment by Ben Levitt on May 3, 2009 at 3:43pm

This is really exciting!
Also, while keeping track of its orientation, does the DCM algorithm keep track of accurate altitude based on a combination gps altitude data and processed accelerometer/gyro data? If not yet, is this something that you think could work well?
Thanks for all your contributions!
Ben

Comment by William Premerlani on May 3, 2009 at 3:57pm

@Ben,
You are quite welcome, I am sure.
The DCM algorithm does not do anything yet with altitude. The only altitude information that is in the code right now is from the GPS. I do think that it is possible to combine GPS altitude, GPS vertical velocity, GPS velocity over ground, attitude information, and accelerometer information into a rather accurate, responsive estimate of altitude. It is in my stack of things to do.
Best regards,
Bill

Comment by OlivierD. on May 5, 2009 at 3:50am

@Bill: Is there a major difference between MatrixNavRev2 and your new AileronAssit code? Would you say AileronAssist is superior in Stabilization? From my understanding, MatrixNavRev2 does Roll-Pitch-Yaw with RTL whereas AileronAssist is more like a flight assist system, stabilization only system? In which case, if I got it right, users can switch from one code to the other depending on what they want to achieve? Correct me if I am wrong. Many thanks.
OlivierD.

Comment by William Premerlani on May 5, 2009 at 5:16am

@Olivier,

The two codes provide the same functionality: stabilization (flight assist) and RTL. The only difference is what aircraft they are intended for. AileronAssist is for aircraft with ailerons, MatrixNavRev2 is for aircraft without ailerons. The major difference is that AileronAssist handles a more difficult control task quite well: stabilizing a neutrally stable aircraft.

MatrixNavRev2 is for an intrinsically stable aircraft, like a sailplane, that is controlled by rudder and elevator. In the stabilized mode (flight assist), it adds its signal to your elevator commands to improved pitch stability. In the RTL mode, it adds it signals to your elevator and rudder commands to return to launch. It uses the rudder for steering. MatrixNavRev2 should be used only on intrinsically stable aircraft that are controlled by rudder and elevator and that do not have ailerons.

AileronAssist is for neutrally stable, straight-wing aircraft that have ailerons. In the stabilized mode (flight assist), it adds its signal to your elevator commands to improved pitch stability, and it adds its signal to your aileron commands to level the wings. If you have a rudder, you connect it directly to your Rx. AileronAssist will make the aircraft respond like a sailplane. It will behave as if it had high dihedral. In the RTL mode, it adds it signals to your elevator and aileron commands to stabilize the aircraft return to launch. It makes level turns by banking and applying the right amount of elevator. AileronAssist is only intended for aircraft with ailerons.

In summary, use MatrixNavRev2 if your aircraft does not have ailerons, use AileronAssist if it does.

Best regards,
Bill Premerlani

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