Leonardo Garberoglio
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  • Villa Ramallo, Buenos Aires
  • Argentina
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DCM matrix implementation problem

Started this discussion. Last reply by Harry Jan 9, 2014. 13 Replies

Hello all, I'm Leonardo from argentina. I'm implementing dcm algorithm on an lpc1769 and can't make it work.I follow this order:I test my gyro, obtain raw data, calculate standar deviation on each…Continue

 

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Latest Activity

Leonardo Garberoglio replied to AntimatterCrusader's discussion ArduBoat: Any way to have it hold position against current/wind? in the group ArduBoat User Group
"David, is any documentation available for this function? I will need a loiter funtion too... Thank"
Nov 12
Leonardo Garberoglio replied to Leonardo Garberoglio's discussion 2 motor ASV with backward ESC capability in the group ArduBoat User Group
"Thank!, I will use Pixhawk. I'm a little mess with DIYDrone and ArduPilot and with ArduBoat and ArduRover... There is ArduBoat DIYDrone group, but not ArduBoat firmware? Where do I find Boat configuration and information for ArduRover?"
Nov 12
Pete Martin replied to Leonardo Garberoglio's discussion 2 motor ASV with backward ESC capability in the group ArduBoat User Group
"If you are using Pixhawk as ArduPilot platform, one source of ArduPilot code for boat or rover (binary, built) is: https://github.com/ArduPilot/binary/tree/master/History/Rover/stable/PX4"
Nov 12
George Raber replied to Leonardo Garberoglio's discussion 2 motor ASV with backward ESC capability in the group ArduBoat User Group
"It is a surface rover.  You just run ArduRover.  It has specific parameters that you set for a boat (e.g. boat with rudder or skid steering)"
Nov 12
Leonardo Garberoglio replied to Leonardo Garberoglio's discussion 2 motor ASV with backward ESC capability in the group ArduBoat User Group
"Excelent! Can you point me out to the ArduBoat Firmware, please? Is the Rover or the Sub project that you are using? Do I have to post here or here ? Thank!"
Nov 12
George Raber replied to Leonardo Garberoglio's discussion 2 motor ASV with backward ESC capability in the group ArduBoat User Group
"I am running the same setup and reverse works fine."
Nov 12
Leonardo Garberoglio added a discussion to the group ArduBoat User Group
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2 motor ASV with backward ESC capability

Hi, I'm building an ASV made of 2 hulls of PVC pipe and a aluminum frame. It will be powered with 2 T100 thruster from bluerobotics. They offer an ESC with fordward/backward posibility. PW drom 1000 to 1475 is for backward and PW from 1525 to 2000ms is for fordward.Is this kind of PWM signal suported by ArduBoat?If not, then I should use a traditional ESC and forget to backward drive, right?Where do I finde the ArduBoat code? (sorry for this newbie question)Thank!See More
Nov 12

Profile Information

About Me:
I'm an electronic engeneer from Argentina
Please tell us a bit about your UAV interest
I'm interestin on DIY autopilot
Hometown:
Villa Ramallo

Comment Wall (2 comments)

At 10:16am on January 4, 2014,
T3
William Premerlani
said…

Leonardo,

What is your question?

I have only glanced at your discussion, but one possibility that comes to mind is gyro scale factor.

The DCM integration step is looking for rotation in radians. To get that, you multiply the gyro outputs in radians per second times the time step in seconds.

For example, suppose rotation is 1 radian per second. That would be 180/pi, or about 57 degrees per second. Then, suppose your update rate is 50 times per second, time step is 0.02 seconds, so you would multiply the gyro rate in radians per second times 0.02.

Best regards,

Bill

At 10:51am on January 4, 2014, Leonardo Garberoglio said…

William this is the key:

The DCM integration step is looking for rotation in RADIANS. To get that, you multiply the gyro outputs in RADIANS per second times the time step in seconds.

Thank you very much!!

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