"Adding a third IMU makes sense for a lot of reasons. You now have an odd man out voter (see space shuttle). With only two you you have to cleverly "guess" which is the more reliable IMU at any given point in time. Adding a third doesn't have to…"
"This is essentially MIMO sys ID of airspeed. Creating a S-domain equivalent would likely be mathematically simpler. Cool idea. The EKF airspeed estimator on APM is also an out of the box solution that is working pretty well. We have used the…"
"This was unapologetically a low fidelity model and I was simply trying to smartly narrow my options. I set the N at zero but you theoretically can run the PID in discrete mode which should help your described issue. I don't think it would be…"
"Yeah that's sort of the goal for this project at face value. I did account for 'some' of the APM specific PID specific scalings, but I'm sure you could help me find more (IE Feed Forward as recommended). In a perfect world, the param file would…"
Research by Ryan Beall and Chaz Henderson:I did a little more refining of the model from the data previously described/collected from the Pixhawk. The following are the results of System Identification and PID optimization.The overall performance…