in the Arducopter implementation of DCM (file AP_DCM.cpp), a boolean variable called "_centripetal" is used to check whether to remove centrifugal acceleration by calling "accel_adjust()" or not. Line 131 of the code
1. when would it ever be advantageous NOT to cancel centrifugal acceleration? 2. where is this flag "_centripetal" defined, I was unable to trace where this flag is initialized or whether its value is ever changed.
Hello William, I am still very new to this so forgive me if my questions seem ood. I'm designing a UAV for my senior project and I just wanted to clearification on something. For my design i am actually using a bluetooth module (bluesmif gold) as opposed to a radio receiver and transmitter due to a limited budget. My first question is that in the Wapoints.h file do I have to set "No_Radio" as 1 since im not going to be using the input receiver channels but rather using the bluetooth module like a RS232 connection setup.
I also plan on using Happy Kilmore's Ground Control Station, I don't know if you are familiar with this software package but it seems pretty descent and easy to use. I intend on using this software and a Xbox 360 controller for manual control let me know what you think.
Sorry for replying late. I was away for a week, and really thank you very much for your time and tips. I would implement this design in Matlab. I have sent a message to Paul Bizard but he might be busy to reply my questions. I will try to contact him again. Finally REALLY I am appreciated for your concern. I hope to finish my design.
Regarding your question about auto PID tuning, I am doing some relevant work, but taking a slightly different approach. The idea is to determine the dynamic model of the aircraft (LaPlace transform) from flight data. Once you know the dynamic model, you can synthesize the ideal controller (its not a PID), and select optimal values of the gains. The method should work for both fixed wing and rotor craft.
Sounds way above my head! :-) I will wait to read about your findings.
By the way, Adam, a few years ago I did some consulting work for Johnson Controls. I stayed at the Phister Hotel. One summer, during ItaliaFest, I almost wound up in jail in Milwaukee. Would you care to hear the story?
Hah! I know several people at Johnson Controls, my wedding reception was at the Pfister, and I first met my wife when I was 11 years old at Italian Fest! I have never been in Milwaukee's jail, thankfully, but I would love to hear how you almost ended up there.
Thank you for a quick and detailed response. I am not intending on writing my own firmware for this part of the problem. And I have read, but not yet totally undertsood, all of your discussions about DCM. I had not even considered that the paparazzi page might be referring to the mounting orientation. I thought that the comment was referring to the viability of DCM in certain situations.... I am aware of gimbal lock and didn't think that that was a DCM problem.
At the top level I am trying to decide between the ardu system and the paparazzi system. And I was concerned, that if the paparazzi comment about DCM for an AHRS was valid, that ardu as an option was being ruled out.
I really appreciate your response, and your obvious love for the topic and your willingness to share all of your expertise.
Hey Bill. I really appreciate you taking the time to look at the EKF stuff! If we get into a heated debate about a bunch of math I think that is a good thing and I don't take it personally. That is what engineers are supposed to do. :-). I think I have a lot to learn from all of you experience with the DCM algorithm and really value your input.
I too have enjoyed the dialog as it's always interesting/beneficial to hear other peoples approaches to an interesting problem. It's good to hear that we share much common ground so I look forward to more discussion in the future!
As for the magnetometer topic, I think I now understand your approach and thank you for your patience!