Hi everyone,

Today I made a new flight using the BreezeUAV autopilot that I develop in open-source (breezeuav.com) :

It ended up with a crash due to motor vibrations leading to wrong roll evaluation. Actually I was aware of those vibrations, I thought the Kalman and Low-Pass filter will be enough to have good value. Without propeller I had 0.3G of noise maximum, and it was leading to maximum +/- 3° error on the roll/pitch angles. 

But I saw after that I loose one screw when flying, maybe there was more noise after that.

I will design a new motor mount to have less motor vibration, but also build a new IMU mount to have less than 0.1G of noise on each axis.

On this video, I was using the semi automatic mode where I can give a airspeed to achieve (12m/s) and the attitude was commanded by a joystick. I was trying to turn left giving a left 40° bank angle, but because of the vibration, the data show that the UAV was having wrong roll values.

I hope you will enjoy this short video.

Adrien

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