Reply to topic  [ 14 posts ]  Go to page Previous  1, 2
Expresso: drifting in mode 1 
Author Message

Joined: Mon Sep 05, 2011 10:26 pm
Posts: 66
Post Re: Expresso: drifting in mode 1
Hey,

regarding the drift: if I want to "calibrate" the sensors manually in order to cancel the drift, which parameters should I change and which parameters will tell me that the change was good?

I'm thinking of

-parameters to change: ACCEL_X_NEUTRAL, ACCEL_Y_NEUTRAL, ACCEL_Z_NEUTRAL, BODY_TO_IMU_PHI, BODY_TO_IMU_THETA, BODY_TO_IMU_PSI

-parameter to check: STAB_ATTITUDE (?)

Any suggestions?
Thnx,

David


Sun May 11, 2014 7:09 pm
Profile

Joined: Mon Sep 05, 2011 10:26 pm
Posts: 66
Post Re: Expresso: drifting in mode 1
Hi

I was playing with the parameters BODY_TO_IMU_THETA, BODY_TO_IMU_PHI in order to correct the drifting in hover mode.
I managed to decrease drifting rate by setting the BODY_TO_IMU_PHI to -6 degrees and BODY_TO_IMU_THETA to 2 degrees.
( I was performing indoor tests of the QS.)

Although the drift rate has decreased I think this is not the correct way to do it.

So my questions are:
- do the numbers indicate that the imu is not perfectly aligned with the body axis when hovering?
- what is the correct procedure to decrease drifting.

Regards,

David


Sun May 18, 2014 3:29 pm
Profile

Joined: Mon Sep 05, 2011 10:26 pm
Posts: 66
Post Re: Expresso: drifting in mode 1
anyone?


Mon Jun 02, 2014 11:55 am
Profile

Joined: Tue Jun 21, 2011 7:34 pm
Posts: 116
Post Re: Expresso: drifting in mode 1
Hey David,
Do you mean the estimate was drifting or that the vehicle itself was drifting?
The procedure you describe indicates that the lisa is not sitting vertical in the hover mode. In this case, the thing to do is to either set it right in hardware by re-seating the lisa, or, an easier way is to do what you did and fix the rotations in software.
The physical drift will never be 0 without feedback control on the position. If you are interested in trying more precise positioning on the Quadshot, please shift to the master branch and use the kalman filter based estimator. This is a lot more stable. If you need help with this, we can setup a call.


Wed Nov 12, 2014 5:25 am
Profile
Display posts from previous:  Sort by  
Reply to topic   [ 14 posts ]  Go to page Previous  1, 2

Who is online

Users browsing this forum: No registered users and 1 guest


You cannot post new topics in this forum
You cannot reply to topics in this forum
You cannot edit your posts in this forum
You cannot delete your posts in this forum
You cannot post attachments in this forum

Search for:
Jump to:  
cron
Powered by phpBB © 2000, 2002, 2005, 2007 phpBB Group.
Designed by ST Software for PTF.