Is there a mathematical solution for preventing fly-aways?
My understanding is that the following is what causes them:
- Accel z goes negative due to ship vibration versus an actual drop in altitude
- The ship corrects by adding power
- The added power causes a larger vibration-induced negative z
- The ship corrects the pseudo altitude drop by adding more power
- A fly away occurs
My understanding of mathematical solutions are:
- A filtered or weighted z only diminishes (does not solve) the effect.
Has anyone tried a "significant z", z / s, where s is the moving average of the variation of z?
- when the IMU isn't vibrating, s is low so the magnitude of z / s is high
... z is significant
... z can be trusted for use in altitude control
- when the IMU is vibrating, s is high so the magnitude of z / s is low
... z / s has less effect
... and will not caused a flyaway