Hi,
I’m new to Arduino and DIY Drones, and I am building a IMU for a model aeroplane. I have already written some code to control the servos from the gyro outputs to some success. The gyros are part of the razor 6Dof. One question I have is can I in some way have some sort of priority setup. My plan is that this will enable the receiver pwm signal to take priority over the pwm signal from the IMU gyro? So both signals are attached to one servo. This will allow full control of the servo/model to be regained just by moving the Transmitter sticks again, then when they are released the gyro will take over again.
Thank You
Robert
Replies
The general idea is that we take the PWM values and convert them to psuedo servo angles (+/- 45 degrees). The autopilot generates a desired servo angle, and we mix that with the servo angle from the receiver. Then we convert the mixed servo angle back to PWM.
You can get a little more complicated. We happen to deweight the IMU's contribution based on how much stick input is received. A deadband is also sometimes desireable.
Thanks for the reply. Being very new, i am unsure where about in the ArduPilot_2_7 code i should be looking. Please could you let me know where the code is, or give me a clue? There are many different headings!
Thanks
Robert