and what is the 214format and 115format?

about the code, is there some more detailed document about these problem can share with me? thanks for your time

Hi,

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.

Thanks for the help, Jan

Hello Bill,

At the end of your 5/17/2009 paper on DCM, you commented that you were planning to write a separate paper on how to implement the DCM algorithm in C code.  Is that paper available today?

Regards, Randy

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.

thank you!!!

Bill,

Did you write an application to do the modeling of the dragonflyer? Is your method published anywhere I could peek at it?

Adam

Bill,

Thank you very much for the links. I am excited to check this out!

Adam

Bill,

Have you given any thought to applying your offset learning algorithms to the accelerometers?

Adam

hi bill ,

Before I make the drone and learn form DIY,and now i do by myself to desgin the new drone.so i want to learn from you.

Bill,

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.

Thank you.

Thanks for the wind estimation info, now I'll go and see what I can get working myself. Good to hear it has since been thoroughly tested!

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.

Hi Bill,

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!

Best regards,

Dan

Hi Bill,

Thanks for your reply.

Our hardware is based on a mixture of the UDB3 and the UDB4. I've attached a note describing the technical history of the design.

The zip file contains the C30 source. We are using MPLAB IDE v8.85.

If you would like a board to play with, please let me know and I'll pop one in the post (even if it's just as a present for helping us!).AWS.zipAWS%20C%20-%20Schematic.pdfAWS%20summary.pdf

Regards

Marek