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

[antoine drouin]

The attached plot shows the effect of an heuristic on the norm of
acceleration ( the blue plot has it, the green one does not) for a
complementary filter AHRS.
This simulation is done on a "bungee like" acceleration scenario (
acceleration to 20m/s in 20 meters, starts at t=5s ).
Not sure if the filter you're using has this heuristic.

Regards

Poine


On Mon, May 16, 2011 at 1:35 PM, Lange Dennis (langede0)
<address@hidden> wrote:
> Hi
>
> We're using the arduino-basic code and the Kalman Filter for GPS-Data
>
> Dennis
>
>
> Am 14.05.2011 05:15, schrieb antoine drouin:
>
> Hi Dennis
>
> What filter are you using ?
>
> 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
>
> Dennis
>
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bungee_filter.png
Description: PNG image