To develop and refine software that will read sensor values and perform the necessary calculations to produce a stable and accurate IMU (inertial measurement unit).
The quality of the code will be evaluated on how well a simulated horizon aligns with the actual horizon. Using the Propellers video drivers, an artificial horizon will be displayed over a real world view to see how well they align.
The Parallax Propeller’s architecture allows it to run multiple IMU routines simultaneously (true parallel processing) so software refinements can be compared to a baseline routine. For example a floating point kalman filter can be directly compared to an integer kalman filter to see which performs better. Or the same filter can be run at higher frequencies to see if performance improves.
Hardware: Airframe – HobbyLobby Wingo Had one too many crashes
Airftame - Easy Star
Microprocessor – Parallax Propeller
IMU – Sparkfun 5DoF
Camera – Inteligent Flight KX171
Here is a partially assembled board used during testing. There were a few layout problems that have been fixed.
The underside of the board with the 5DoF IMU. The camrea is only mounted to the board for testing.