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RE: [Paparazzi-devel] Angles and IR

From: akochevar
Subject: RE: [Paparazzi-devel] Angles and IR
Date: Thu, 02 Oct 2008 21:36:06 -0700
User-agent: Web-Based Email 4.14.7

Sorry I havent returned your PM on rcgroups.  A 15 hour day at work today was all I had time for :).  I will try tomorrow to explain the variables a bit more, but for now, please try to use the values for the LATERAL LONGITUDINAL AND VERTICAL CORRECTIONS that are found in SlayerJH, they should give you better results.  From there start with all CORRECTION values of 1, and change them as needed(the higher the value the less the plane will move in that direction.

-------- Original Message --------
Subject: [Paparazzi-devel] Angles and IR
From: Uttam Chandrashekhar <address@hidden>
Date: Thu, October 02, 2008 8:17 pm
To: address@hidden

Hi guys,

I've been looking at various airframe files, and have noticed, particularly in the Slayer airframes, LATERAL and LONGITUDINAL corrections in place ( because of tilted sensors, in our airframe file, we have lateral and longitudinal set to 0.7, and vertical at 1.0 ), and Corrections for pitch angles using CORRECTION UP and CORRECTION DOWN. For example, in Slayer 2

<define name="CORRECTION_UP" value="1.5"/>
<define name="CORRECTION_DOWN" value="1.5"/>
<define name="CORRECTION_LEFT" value="1."/>
<define name="CORRECTION_RIGHT" value="1."/>

<define name="LATERAL_CORRECTION" value=".5"/>
<define name="LONGITUDINAL_CORRECTION" value=".5"/>

in SlayerJH:

<define name="CORRECTION_UP" value="1.0"/> <!-- multiplies the up pitch angle reading -->
<define name="CORRECTION_DOWN" value="1.5"/> <!-- multiplies the down pitch angle reading
<define name="CORRECTION_LEFT" value="1.0"/> <!-- multiplies the left roll angle reading -->
<define name="CORRECTION_RIGHT" value="1.0"/> <!-- multiplies the right roll angle reading -->

<define name="LATERAL_CORRECTION" value="1."/>
<!-- multiplies the roll ADC reading -->
<define name="LONGITUDINAL_CORRECTION" value="1."/> <!-- multiplies the pitch ADC reading -->
<define name="VERTICAL_CORRECTION" value="1.414"/> <!-- multiplies the Z ADC output, correcting for TILTED sensors -->

Can you explain why you have an ADC correcion of 0.5 for lateral and longitudinal in Slayer2? Is that because you probably used an XY sensor with twice the gains?

If by rolling and pitching the plane I find that bank and pitch angles are exhagerated, Can I simply apply angular corrections till all angle estimations are correct?


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