Hi,

I would like to know how the ArduCopter (or any drone) deals with the following problem, so I can learn and implement the solution in my project.

I have been using an MPU6050 (3 axis gyro, 3 axis accel, built in motion filter called DMP) on a car axle to measure axle angle when driving. On a long banked corner (2 degrees) the sensor reads 0 degrees while moving (~40km/hr), but when stopped it reads correctly (2 degrees). The physical axle angle is the same though in both scenarios.

I believe the lateral force from going through the corner is affecting the sensors interpretation of which way gravity is, and is adjusting the roll angles accordingly. See image;

IRLiGRU.png

My thoughts are that the ArduCopter (or any drone) will go through a similar situation during long banked turns at speed, can anyone comment on how one deals with this problem/solves it? 

Thanks in advance for your input.

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