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Testing of the CHR-6D IMU and DCM in a quad-rotor

Posted by Vassilis on December 31, 2009 at 8:00am
For those of you that have a CHR-6D IMU, I thought that you might be interested on the testing I have done on a quad-rotor. I basically took the open source software that comes with the IMU and implemented Bill's DCM algorithm on the on-board STM32 MCU. Then I interfaced the IMU with the quad-rotor controller (I had this done a while ago) and was able to have a fairly stable flight. It is not perfect but definitively usable. To reduce the effect of vibration on the sensors I had to encapsulate the board in gel.More information and the DCM source code for the CHR-6D can be found at:http://vrhome.net/vassilis
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Comments

  • T3
    Vassilis January 4, 2010 at 7:04pm
    I updated my blog with some details and a picture
    http://vrhome.net/vassilis
  • Jamie Ahmed January 2, 2010 at 9:36pm
    Yes, a close-up of the potted board would be great.

    -Jamie
  • John_Mac January 2, 2010 at 4:48pm
    Great thank you...do you have a picture of the potted board?

    John
  • T3
    Vassilis January 2, 2010 at 2:12pm
    The gel is the Dow Corning Sylgard 527, I used 70% part B and 30% part A. Following is a link:

    http://www.amazon.com/Dow-Corning-DIELECT-SYLGARD-DIELECTRIC/dp/B00...
  • T3
    Vassilis January 2, 2010 at 1:01pm
    I used a Dow Corning dielectric gel (silicon based, two part gel), I will look-up the part number and let you know.
  • John_Mac January 1, 2010 at 8:21pm
    Can you give more details of the gel potting you did?

    John
  • T3
    William Premerlani January 1, 2010 at 8:04pm
    Vassilis,

    Very nice, congratulations.

    Bill
  • Jamie Ahmed December 31, 2009 at 12:41pm
    Looks very stable! What kind of gel did you use for the IMU board?

    Congrats!

    -Jamie
This reply was deleted.