I have been working on an improved altitude estimator for a while here but have been having issues with implementation.
The theory works fine but as seen above in the FFT of the accelerometer data, there is a significant ammount of vibration/noise in the sub 50Hz range. This is due to out of balance props etc. Needless to say, this proves to be very detrimental to estimating altitude and velocity changes when these vibrations are an order of magnitude greater than the actual accelerations felt by climbing and descending. You cant really low pass filter or band pass filter this because you need everything below 60 Hz or so.
So here is what I need from you guys:
Flight data that includes the following:
- dt in ms between samples
- barometric altitude
- sonar altitude (if available)
make sure you notate units etc. The more information on the data the better. Thanks for the help and I will post the results. I'm really hoping to get some data from guys with slick clean vibe free quads.