There it is. XYZ positioning using only throttle on the Marcy 1 vehicle. Unfortunately not enough authority to move upwind, so we only got crosswind translations & a slower downwind drift than if cyclic was neutral. As Mike Bakula recommended, used raw magnetometer output & detected when the halfway point in the waveform was crossed instead of using derivatives. Very important to have the balance beam loaded enough to prevent pitch oscillation. She did indeed bank in the direction of the translation from throttle alone.

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Comment by shailendra singh on January 18, 2010 at 1:39pm
hai jack can you tell me recarding the code to be used to calibrate gyro and xy sensor
Comment by Jack Crossfire on January 18, 2010 at 7:18pm
Try to look at the ardupilot or ardumu for standard IMU code.


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