how do we get the pitch angle when the plane is accelerating forward from accelerometer. Do we only use gyro data to find pitch . Or is there any way by which i can use accelerometer data to find the pitch?
You need to be a member of diydrones to add comments!
The accelerometers are only used to correct the drift in the attitude solution. The gyros are the primary sensors. We correct for centripetal acceleration in the code, but there is no practical way to correct for linear acceleration. However we use a fairly long time constant gain for the drift correction, and linear accelerations will be of fairly short duration. You may see the estimated pitch diverge by 5 or even 10 degrees during a takeoff, but it will self correct in flight.
Also, the quicker and shorter duration an acceleration, the less it will affect the attitude estimate as the accelerometer values are capped at 2 g's. A 9 g rail launch that takes fractions of a second does not disturb the attitude estimate much at all.
Replies
The accelerometers are only used to correct the drift in the attitude solution. The gyros are the primary sensors. We correct for centripetal acceleration in the code, but there is no practical way to correct for linear acceleration. However we use a fairly long time constant gain for the drift correction, and linear accelerations will be of fairly short duration. You may see the estimated pitch diverge by 5 or even 10 degrees during a takeoff, but it will self correct in flight.
Also, the quicker and shorter duration an acceleration, the less it will affect the attitude estimate as the accelerometer values are capped at 2 g's. A 9 g rail launch that takes fractions of a second does not disturb the attitude estimate much at all.