Doug, please send your debugged IMU code, and let me know what to fix in Labview, I have 8.6 Pro Dev Suite. I noticed your in Longmont, I live in Windsor CO. We should get together and fly, I have been developing an autopilot and Ground control station for about 5 years.
I would like a copy of revised ArduIMU code. I'll add you as a friend here in order to send you my emaill addy....As for LabVIEW code, i think there was a mixup between Z and indicators (if memory serves me right) and I remember seeing one more thing...
Do your subtle changes greatly affect performance?
I have recently been flight testing the algorithm in my own application. With Jordis gains I noticed pitch estimate problems at full throttle due to what I assume was engine vibration affecting the accelerometers. I turned down the gains to about 30% what they were and it seems to have remedied the problem.
We (some of us in the ArduIMU community) are having a friendly disagreement over what positive acceleration means relative to a reference frame. I'm afraid none of us may know the correct convention. If you have an IMU sitting on your desk and you begin to move it in the positive X coordinate direction, while you are accelerating it is that a positive or negative acceleration from the IMU’s perspective?"
The short answer is that many accelerometers, such as the MMA7260 that I use in the UAV DevBoard, actually measure gravity MINUS acceleration. So, in the case that you cite, the acceleration is positive, so the accelerometer will give you a negative output.
Hey Doug messaging is down so I shall have to try here, unfortunately there's lots of rip off's of the original Vtail, if its from the USA that's what it will be. There are flat spars in the original about 6mm wide that are placed in the slot that runs on the underside of the wing for that purpose, also the from of the fins also receive the same treatment thats to stop them flexing. For hinging simply use some UHUpor and run two beads of it on each surface wait for it to dry and then bring together. Works really well. Please don't hesitate to ask any more questions, although as I say most being sold in the USA are not from the designer sadly!! Hooray for China, actually another country in this case, but the less said!
Yes, it has four flights on it. It was a challenge to keep it under 6#. Came in @ 6.01#.
The first flight was good, had issues with take-off due to the high location of the motor and poor angle of attack with the wing. Even with this it performed quite well. Have a video of first flight. It is a heavy plane for its size; however it is very stable after the two issues were taken on with a small amt. of tinkering. I think I want to build a larger one, but foam wing is the way to go, coroplast is just too heavy for anything larger than this.
I am responding to your comment about putting a plane through a windshield. Its a bit off topic, so I am putting it here.
The guy who runs the local hobby shop in my town, Daryl, sold a plane to someone. Daryl drove out to the field on the day the customer took the plane up for its first flight.
Shortly after Daryl got there, the plane went out of control, busted through Daryl's windshield, and landed in the front seat of Daryl's car. Guess he lost money on that sale.
There is a picture of the plane, taken looking through the hole in the windshield, that is up in Daryl's shop, with the caption, "shit happens".
Daryl says there is no way to know for sure what happened, but his guess is that the crystal shook loose from the receiver.
A couple of things
1. I should be able to understand the code as necessary
2. I don't have ailerons - only rudder - but it turns very well as is
3. I only have a DX6i transmitter, so I will only be able to test MANUAL/other mode - one at a time.
4. I do have a gumstick video camera to record the flight along with the flash log
5. I will take my laptop along as necessary to download various versions - but I can't run the ground station as I didn't get telemetry hardware.
6. I will probably fly out slightly over the ocean - see http://vimeo.com/10569804 - but how close can my waypoints be for a figure eight ( I want to keep it in tight and over the beach).
Yes, that is my DG-600/18 in my avatar, I've also owned a DG-101, DG-303, Duo, Ventus B, and ASW-20BL at various times. No glider, right now, but I'm building a winch with some friends. Also fiddling with some indoor autonomous flying machines...
Hi Doug, could you please give me some tip on how to connect 2 APM together? For example, by using the serial 2 (besides the manual say serial 2 is for ADC) would the better way? Lets say that APM1 must send heartbeats to APM2, so what is a good approach to do that? Thanks in advance.
The Idea is to use APM1 as usual with few code changes to provide heartbeats to APM2. On APM1 the telemetry port still being used for communication with GCS. APM2 code will be replaced to only do few things with PWM output plus a "heartbeat Listener", so why I need to find a way to communicate the two ones. As APM1 uses serial for USB, telemetry and GPS, the remaining one is serial 2. But manual said that port 2 is related to ADC. But I didn't see something about ADC and serial yet.
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