Discussions

I am plotting pitchspeed (pitch rate) and rollspeed (roll rate) on the Mission Planner and I can't see a useful rate through what seems to be so much noise that it would overwhelm the correct signal. Yawspeed, on the otherhand looks just fine. I am pretty sure they are not quite correct by the time they make it to the Mission Planner for logging. I'm not sure that pitchspeed and rollspeed get used for anything in the autopilot - haven't found it yet - anyway, it's just the actual signals that get routed to the Mission Planner by the names pitchspeed and rollspeed. The code below is from AP_AHRS.cpp in the APM library code. What I am seeing (see enclosed plots) is a very noisy signal that has little of the characteristics of the rate of pitch or roll when I did a very simple pitch and roll sweep with my hands at about 3->5 degrees sec. (see attached tlog) The yaw and yaw rate (yawspeed) looks really good!
 
   Sorry, but can't easily follow how these signals from the IMU get all the way to :
 ahrs.setHil(packet.roll,packet.pitch,packet.yaw,packet.rollspeed,
                    packet.pitchspeed,packet.yawspeed);
 in GCS_Mavlink

2012-09-28 11-27-03 - ROLL.tlog

RollRollspeed.jpg

YawYawspeed.jpg