Kalman Observer

[ABL]

Done, tested latest version, posted here.
I changed some variables - increased roll/pitch D from 25 to 30, lowered P on pitch/roll from 68 to 64.
Flew without oscillations in normal flight (still oscillates when descending, will increase D even more).
Too bad, gopro corrupted my last video, was really fun to do takeoff and landing directly from car, etc ;-)
Tested gyro, acc, baro, mag - everything looks OK.
Minor problems:
- slight drift in acc mode, can't compensate with acc trim (drifts to one side, one click away - drifts to another side). Not big and should be fixed with "pos hold with acc" algo
- still wobbles when descending in propwash - will try to increase D more

I could say - flies really well, i even tried to climb approx 100m, where wind is strong - no problems:


...another test for NAZE32 hardware is incoming - today is ~ -12°C, but soon it will be ~ -25°C - will test how hardware will handle low temps =)

[nicog]

brm, you use it in acc mode or gyro mode?

I will do some testing this week, I had tried the pt1 element some time ago (coded myself). I will try yours. tell you how it feels

[brm]

i started with gyro only and switched over to acc mode.

[brm]

http://youtu.be/o-ulU1dO_L8
the gyro filter settings for fj450 frame in the video are not yet correct.
with no changes on the pid settings.
a new version has been committed to svn.

[brm]

work continous ... for the integrator i need the filtered accels in the ned frame.
any acc_z correction should also be applied with the value from the ned frame.
http://youtu.be/j590bEWvsX4
the baro is not covered.

[brm]

http://youtu.be/RYHVJ6jq5rg
until a few days ago quite a few where thinking that a low settings of the dlp filter was 'the' solution to remove noise from the accelerometer.
in the end i had a version flyable for my small quad and not for my larger quad and vice versa.

going the opposite way seems to be solution.
the dynamics of a quad is above the 150 hz. setting the dlp frequency to 42hz for the mpu-6050 creates some rare effects.

sources will be updated later on.

[ABL]

I tested latest binary from google code (robertb branch aka brm), looks OK!
No wobbles on descent (well, small ones), holds well.
Bit drifting to sides, but... All versions do the same, pos hold on acc's not implemented. Used - gyro, acc, baro, mag not tested (booooring to re-calibrate it each time i flash new FW :P )

My settings:

Code: Select all

map taer1234
feature ppm
feature vbat
feature motor_stop
feature servo_tilt
set gimbal_flags=16
set gimbal_pitch_gain = 25
set gimbal_roll_gain = -26
set gimbal_pitch_mid = 1350
set gimbal_roll_mid = 1650
set vbatscale = 112
set looptime=3500
set p_pitch = 64
set i_pitch = 18
set d_pitch = 30
set p_roll = 64
set i_roll = 18
set d_roll = 30
set p_yaw = 80
set i_yaw = 56
set d_yaw = 0
set p_alt = 18
set i_alt = 11
set d_alt = 7
set p_level = 58
set i_level = 10
set d_level = 20

Go and try! =)