I have been developing a flight mode for the quadcopter to stabilize on a constant yaw rate. This is to have a flight mode which can simultaneously scan and localize inddor environments or outdoor landmarks while mounting the lidar/camera sensors rigidly on the quadrotor structure to save weight.
Below the video is a simple proof of concept of the new flight mode. The quad spins at a constant yaw rate and the pilot controls the quad by activating 'Absolute Mode'
However, as I spin the quad in a faster yaw rate, the absolute mode reference seems to drift and change directions. That is, the reference direction changes, making it hard to control. The video is at 180 deg/s yaw rate. I would like to increase this to up to around 500deg/s. I am suspecting maybe the control loop is running in a low bandwidth but don't see how I can improve the performance.
Moreover, while moving in one direction is working fine but when I change directions vertically while moving in a translational motion, the quadrotor does a kind of swinging movement as shown in the video. What should be done to increase the controllability of this concept.
Any ideas or comments will be a big help to resolve the matters.