|From:||Prof. Dr.-Ing. Heinrich Warmers|
|Subject:||Re: [Paparazzi-devel] New Autopilot - Tiny v3|
|Date:||Sun, 16 Aug 2009 11:00:06 +0200|
|User-agent:||Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)|
you can download the kalman filter code to calculate the exact attitude. We use them to fly quadrocopters.
To implement them for normal plane configuration you have to exchange the angles calculation with the IR
sensors with the code to calculate with acceleration and rate sensors signals as we do.
We want to implement to fly normal planes with MEMS-sensors, but we need a documentation (formulas, variables, algorithms)
of the current paparazzi code in a form of an technical report.
We want to fly with MEMS-sensors since we want to fly in clouds, with inversion weather conditions in frog and so on.
Since low cost rate sensors like the lisy300al cost only about 45$ it may be cheaper then the use of the IR sensors (about 90 $).
Also with high end sensors like the adxrs610 the cost are about 102$. The acelleraton sensor ADX330 cost 8$.
I and other worked on a overwiey for the sensors: http://openmulticopter.org/wiki/Documentation/Hardware_Selection
With a new tiny with added MES Sensors on the pcb it
is more easy to fit the autopilot in very small MAVs. I want to have one with a 250mm span and 130g mass.
Currently a club menber has one with 290mm span and 87g mass with RC.
Just a note for everyone reading.
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