hi gautier,
i have been flying with the master branch with a quadrotor. Have problems with the autonomous
navigation, i have oscillations while reaching the waypoint and tried to tune all parameters
related with horizontal side but no success. I think it may be related with the speed and position
estimates of the hff filter because i see there is a huge noise on the speed and position signals.
While reading the Kalman algorhytms on the hff filter, i see the variable of
"b2_hff_xdd_meas" is used as the measured acceleration of the body to drive the Kalman
filter. But this variable includes the whole accelaration including the ones with related to the
orientation angles. I guess we have to use an accelearation of the true body lineer accelarations
on the x and y directions. But i do not know how to derive these accelerations because the acc
sensor will always measure the gravitational accels and the centrifugel accels together. Trying to
extract the effect of the gravitational accels from the acc sensor readings does not work(i have
lots of tests) because there is a little phase delay between the real orientation angles of
body(also the orientation angles of the acc sensor) and the angles we derived with a fusion of gyro
and accel. Do you have an idea about this topic, or is there any upgrade/branch dealing with the
"ins", i have missed? Thanks..
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