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Re: [Paparazzi-devel] IMU Problem after BungeeTakeoff?

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] IMU Problem after BungeeTakeoff?
Date: Sat, 14 May 2011 09:14:34 +0200

the arduimu dcm does not compute dV/dt to correct X (yet). It can be added. But probably a limiter on the x- accelerometer measurement would be good too (better?) to clip off anything above 0.8g since any higher reading is almost certainly due to kinematic accelerations (that will corrupt attitude) and not due to a pitch angle.

Please note that gyroscopes are also acceleration sensitive sometimes in the order of percent per g. Here an option might be to stop integrating (or use the last gyro values) during the very high peaks (+4g) of catapult launch?


On Sat, May 14, 2011 at 12:38 AM, Lange Dennis (langede0) <address@hidden> wrote:
Hi all

We would like to develop an autonomous Bungee-Takeoff. We have written a routine that actually works. In the first seconds of the start it looks very good. But then the UAV starts to decline again. But the log file sayd that the UAV wants to climb all time. And we also saw that the PFD did not show the right position.
So we believe that the IMU has an error because of the acceleration during the takeoff.

We also tried the BungeeTakeoff from the OSAM-Team >> same problem

Has anyone else had this problem? Or does someone have a solution?
We considered to control the angle of attack with an extra sensor during takeoff. Can it work?

Thanks in advance


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