William Premerlani's Blog Posts Tagged 'UDB' (8)

Acceleration compensation: flight testing


I have recently performed flight tests on a major change in the way acceleration is accounted for in performing roll-pitch drift compensation from accelerometer measurements. The theory behind the idea was recently published in a…


Added by William Premerlani on May 1, 2012 at 9:30am — 21 Comments

Magnetometer alignment


The above picture shows an interesting side effect of magnetometer misalignment: complete reversal of the measured horizontal component of the earth's magnetic field.

The effect was discovered by Peter Hollands during his analysis of the data from one of Ric Kuebler's flights. Ric was using…


Added by William Premerlani on October 16, 2011 at 2:56pm — 31 Comments

Magnetometer offsets revisted

The above is a plot of the 3 components of estimated magnetometer offsets computed during spin tests at 78 RPM of an improved method for estimating and removing magnetometer offsets. There is a report available with…


Added by William Premerlani on October 14, 2011 at 4:30pm — 19 Comments

sustained rotations : pushing the envelope

This is an update of a previous post, with a link to a report that I promised that I would write. The above plot shows the results of the automatic calibration of the Z axis gyro during tests of methods to improve the performance of attitude… Continue

Added by William Premerlani on June 19, 2011 at 3:50am — 21 Comments

rudder-roll stabilization

If you are flying a UAV DevBoard in a plane without ailerons, you should be interested in a recent revision to MatrixPilot that will tighten the turns in waypoint mode, without overshoot. The above picture is the track of a portion of a test flight in an EasyStar. The control mode was switched from stabilized mode to waypoint mode with…

Added by William Premerlani on August 31, 2010 at 11:19am — 7 Comments

Invensense gyros in the UAV DevBoard

UAV Devboard users,

The UAV Devboard, version 3, is now available from SparkFun. It is the same as version 2,…

Added by William Premerlani on August 19, 2010 at 1:30pm — 41 Comments

Three more autonomous flights with MatrixPilot

Hi guys,

Today MatrixPilot controlled three more autonomous flights. All three flights were executed with the transmitter turned off. The picture above is the track of the first landing. It was aiming for the midpoint between the two fields, along a line that connects the centers of those two circles.

Recently I posted three flights of my GentleLady flying…


Added by William Premerlani on June 25, 2010 at 11:00am — 28 Comments

Triple autonomous flights with MatrixPilot

Yesterday, my GentleLady sailplane, under the guidance of MatrixPilot running on a UAV Devboard with an EM406 GPS and Jordi's magnetometer, achieved 3 consecutive autonomous flights, with the transmitter off most of the time. The above picture shows the tracks of the three landings. Waypoints 18 and 19 were arranged so that the plane was supposed to land halfway between them. The…


Added by William Premerlani on June 19, 2010 at 3:11pm — 20 Comments

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