This is a simulation I'm working on to improve the Loiter control laws and discover optimal gains. I have identical code from Arducopter running in Flash as OO Javascript so I can ensure the behavior is the same as the real thing. I tested the MTEK GPS to find the actual latency and accuracy and then modeled it in code. This allows me to test PIDs and other coding ideas to see how the copter will behave in real life. The copter itself is a simple physics equation and should be fairly accurate. To better tune the SIM, I can compare AC Flash Logs from real flights side-by-side with the SIM flights which also output the same text based logs.
I've already found many areas for improvement in the Loiter code which i've just checked in to the GIT repository.
Hopefully this tool will serve as a great PID introduction as well. I know I've learned a lot by comparing plots with small changes in the gains.
Jason
Comments
Lefebvre: IMU direction, magnetometer offset position (placed on a stick with GPS to get distance from electronics) and gain for pitch, yaw and roll. That is pretty much it.
John, do they have any settings the user has to fiddle with *at all*? Or is it totally automatic?
John Arne: that's our intention, too. This tool was designed for the dev team to find optimal algorithms that will work equally well for different frames right out of the box, with adaptive methods and self-learning. It's not magic, just math ;-)
I do not know what special sausage the commercial DJI WKM autopilot use, but the GPS loiter/position hold is some of the best out there and it adapts to different frames without requiring the user to mess with PID settings. If we could get anything close to that performance level it would be great indeed.
Would be good to introduce genetic algorithm to find the best values.
Awesome Awesome Awesome!
This is absolute awesome. You must now just add quadcopter weight, motors size and frame size in the mix so that one can do this to a personal quad copter.
Brilliant. This helps quite a bit with conceptualizing loiter behavior (for perpetually troubled individuals such as myself) :)
Jason is a Flash GOD!
-
1
-
2
-
3
of 3 Next