Leonardo Garberoglio
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  • Villa Ramallo, Buenos Aires
  • Argentina
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DCM matrix implementation problem

Started this discussion. Last reply by Harry Jan 9, 2014. 13 Replies

Hello all, I'm Leonardo from argentina. I'm implementing dcm algorithm on an lpc1769 and can't make it work.I follow this order:I test my gyro, obtain raw data, calculate standar deviation on each…Continue

 

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About Me:
I'm an electronic engeneer from Argentina
Please tell us a bit about your UAV interest
I'm interestin on DIY autopilot
Hometown:
Villa Ramallo

Comment Wall (2 comments)

At 10:16am on January 4, 2014,
T3
William Premerlani
said…

Leonardo,

What is your question?

I have only glanced at your discussion, but one possibility that comes to mind is gyro scale factor.

The DCM integration step is looking for rotation in radians. To get that, you multiply the gyro outputs in radians per second times the time step in seconds.

For example, suppose rotation is 1 radian per second. That would be 180/pi, or about 57 degrees per second. Then, suppose your update rate is 50 times per second, time step is 0.02 seconds, so you would multiply the gyro rate in radians per second times 0.02.

Best regards,

Bill

At 10:51am on January 4, 2014, Leonardo Garberoglio said…

William this is the key:

The DCM integration step is looking for rotation in RADIANS. To get that, you multiply the gyro outputs in RADIANS per second times the time step in seconds.

Thank you very much!!

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