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From: | Prof. Dr.-Ing. Heinrich Warmers |
Subject: | Re: [Paparazzi-devel] IMU's |
Date: | Tue, 09 Aug 2011 11:17:53 +0200 |
User-agent: | Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax) |
Hector, you're are right that in the current implementation only compensate the centrifugal force for circles around the z axis. It it not a problem to solve vector f = vector omega (vector multiplication ) vector V. By adding this simple equation also to the AHS of paparazzi it would be possible to fly acrobatic with normal planes for a long time period. I think you're are wrong, that the current implementation oft the DCM do not estimate the 3D attitude. We have flown circles for 20 minutes (angel up to 70° radius down to 70m). We have also flown in clouds and circles up to to 1700m ground level without problems. The paparazzi estimator (estimator.c) calculate position and speed and fill the gap between the 250ms until the next gps information. It would be a nice work to implement acrobatic flight components like F3A in Paparazzi. Heinrich Hector Garcia de Marina schrieb: Hello Todd, as the DCM algorithm does not estimate the 3D position/velocity, it can not compensante the centripetal acceleration. You can still using the DCM algorithm but with poor performance, specially when you have mid/large wz (gyro in z axis) for instance in a turn, even at low velocities. |
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