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
Comments