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Re: [Paparazzi-devel] hff filter in ins subsystem

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] hff filter in ins subsystem
Date: Tue, 11 Jun 2013 09:50:37 +0200
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:10.0.12) Gecko/20130116 Icedove/10.0.12


Sorry, there is no hidden branch with a magical ins filter. This filter is a quick hack made some years ago, and it makes a lot of assumptions that are easily broken. It is probably giving you some benefit if you have a bad gps, low noise on gyro/accel and if you fly in near hover most of the time. If your noise on accelerometers is too high, maybe you should just try to fly without the filter (gps only): <subsystem name="ins"/>
Any better filters are welcome !


Le 11/06/2013 08:12, address@hidden a écrit :
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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