Replies to This Discussion

Permalink Reply by Caleb Chamberlain on February 9, 2011 at 5:13pm

As an added note, the UM6 doesn't do anything to compensate for centripetal acceleration right now.  There are a bunch of extra pins routed out through two 2x6 2mm headers on the bottom of the sensor, so GPS and airspeed could easily be brought in.  If anyone wants to work on centripetal compensation code, I'll give you a UM6 and create a SVN branch for you.  Let me know if you are interested.

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Permalink Reply by Michael Zaffuto on February 9, 2011 at 6:56pm

I noticed your firmware was developed with Raisonance Ride7?  The produced hex file appears to be greater than 32KB, the limit for their low cost R-Link Standard for debugging.  Is it true that you may not be able to debug programs greater than 32KB, but program uploading with rlink std does not have that limitation?  Are you using the R-Link Pro?  BTW, thank you for posting your code, real operational EKF code like this (especially with your selection of sensors...which I'm fond of) can be a great learning tool for innumberable students/hobbyists/professionals.

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Permalink Reply by Caleb Chamberlain on February 10, 2011 at 9:40am

I actually didn't use JTAG for development in this case... The board is programmable over the TTL UART using an onboard bootloader on the STM32.

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Permalink Reply by Bot Thoughts on September 25, 2011 at 8:28pm

I'm probably going to be working on something similar over the next few months. Maybe even with the 6DM that I bought. If I ever have something to show for my efforts, will let you know. :)

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Permalink Reply by Caleb Chamberlain on September 26, 2011 at 4:35pm

@Bot

 

That's great!  I'll look forward to seeing what you come up with.

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Permalink Reply by Alex on October 10, 2011 at 7:28am

Attitude estimation ONLY 3axis ACCELEROMETERS.

 

Dear DIYdrones friends,

I'm looking for an Attitude Estimation algorithm, and only have 3 axis accelerometers. I know this will may not be optimal, and will be slow. But, if you know an algorithm, forum topic, or wiki how to set this up for my limited arduino hardware please tell me. 

 

Thanks!

 

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Permalink Reply by Allen Babb on October 16, 2011 at 1:43pm

Just reference to the Earth gravity vector, and use an arctangent function to find the X and Y Euler angles. Be careful about linear accelerations, as they'll throw off your calculations.

Note: the Z Euler angles will be invalid most of the time.

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