Natalius Kiedro
Natalius Kiedro
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Natalius Kiedro's Discussions

kiXAHRS One Xplained - Build your own Autopilot from off-the-shelf Atmelstore components

Started this discussion. Last reply by Natalius Kiedro May 17, 2011. 3 Replies

Hi , Atmel has recently released the new (blue) Xmega A1 Xplained board (29 USD) and plug on sensors ATAVRSBIN1 (Inertial One, 54 USD) and  ATAVRSBPR1 (Pressure One, 24 USD). A few days ago…Continue

Why Analog Offsetting in DCM derivatives (ArduImu, Razor9DOF, Kixrazor)?

Started this discussion. Last reply by Natalius Kiedro Jul 20, 2010. 16 Replies

Hi all (especially Bill & Doug)I wonder why "analog" offsetting is done for the gyros and accelerometers at program start? Why not filling omega_I with appropriate startup values instead? This…Continue

Kixrazor: DCM + GPS + Data compression on a Razor 9DOF - and a question to Bill

Started this discussion. Last reply by Natalius Kiedro Apr 26, 2010. 12 Replies

Hi guys,I'm not sure whether I should post it here, but I feel that the problem I have been struggling with might be of interest for those of you who would like to squeeze out more functionality from…Continue

Learning to fly - the teachin approach and the Kohonen call

Started this discussion. Last reply by Natalius Kiedro May 1, 2010. 3 Replies

Hi all, well, from my old-fashioned opinion there is currently too much discussion about the best way to do AHRS in this forum. Kalman versus other approaches like Bill Premerlani's one. Remember…Continue

 

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Natalius Kiedro replied to Natalius Kiedro's discussion 'kiXAHRS One Xplained - Build your own Autopilot from off-the-shelf Atmelstore components'
Please find the Bascom source at: http://www.mcselec.com/index.php?option=com_content&task=view&id=295&Itemid=57
May 17, 2011
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Natalius Kiedro commented on Chris Anderson's blog post 'New DIY Drones product preview: the PhoneDrone board for Android!'
I see the attraction of replacing the RC-link by 2 phones - years ago (2004/2005) I did this in a project I called "CellRC". The problem was GSM-CSD latency in the order of about half a second. Latency could be compensated by AP…
May 16, 2011
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Natalius Kiedro commented on Chris Anderson's blog post 'New DIY Drones product preview: the PhoneDrone board for Android!'
I think it's an overkill to buy a 2nd android just for motion processing. Kalman (7state) and expanded DCM become alive with 250Hz even on a 32MHz Xmega A1 (Look for Atmel's new Xplained boards and Xplained sensors, also kiXAHRS - much…
May 14, 2011
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Natalius Kiedro replied to Natalius Kiedro's discussion 'kiXAHRS One Xplained - Build your own Autopilot from off-the-shelf Atmelstore components'
Here is the link: http://www.rcgroups.com/forums/showthread.php?t=1436742
May 14, 2011
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Natalius Kiedro replied to Natalius Kiedro's discussion 'kiXAHRS One Xplained - Build your own Autopilot from off-the-shelf Atmelstore components'
Sorry, the discussion unfolds at RCgroups now. I had loved to see it here - but the interest in the project at RC groups is larger than here.  If you are interested, please follow the story at RC groups. Thanks, Natatius
May 13, 2011
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kiXAHRS One Xplained - Build your own Autopilot from off-the-shelf Atmelstore components

Hi , Atmel has recently released the new (blue) Xmega A1 Xplained board (29 USD) and plug on sensors ATAVRSBIN1 (Inertial One, 54 USD) and  ATAVRSBPR1 (Pressure One, 24 USD). A few days ago ATAVRSBIN2 (Inertial Two, 54 USD) expanded the line of sensors. While Inertial One is based on the 9DOF combo: ITG-3200 gyros (Invensense), BMA150 accelerometers (Bosch), and AK8975 magnetometers (Asahi Kasai), Inertial Two utilizes the IMU-3200 gyros (Invensense) reading the KXTF9 accels (Kionix) on board…See More
Discussion posted by Natalius Kiedro May 9, 2011
3 Comments
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Natalius Kiedro replied to Manuel Guillén's discussion 'Using simulator AeroSIM RC for Autopilot / IMU development'
Chris, I can only congrat Manuel to have opened AeroSimRC for a custom dynamic library. Let me express it by a simple equation: AeroSimRC + PixelQi Netbook = RC field computer. Here are some arguments why (last post on this…
Sep 22, 2010
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Natalius Kiedro replied to Adrian Jansen's discussion 'Gyro drift compensation on Arduino IMU'
Hi all, honestly, I am also a bit unsure about the DCM-PIs, also because there are substantial differences fixed in the various versions. Furthermore I don't have a good idea about a potential crosstalk between PIs for rollpitch and yaw. In…
Jul 25, 2010
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Natalius Kiedro replied to Natalius Kiedro's discussion 'AR7212: A programmable 12-channel receiver with autopilot extensions for those flying Spektrum DX7'
Morli, the AR7212 replaces the AR7000, it is not an add-on - one may however utilize the "internal" satellite of the AR7000 as an "external satellite" to the AR7212 (The AR7000 is a 2 board composite one being identical to a…
Jul 20, 2010
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Morli replied to Natalius Kiedro's discussion 'AR7212: A programmable 12-channel receiver with autopilot extensions for those flying Spektrum DX7'
Natalius, sorry i missed this post for some time now. I didnt understand what you meant by "satellite inside the AR7000" , my AR7000 has external satellite rx which connects to main via small pigtail cable. Is this what you meant? thanks…
Jul 20, 2010
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Natalius Kiedro replied to Natalius Kiedro's discussion 'Why Analog Offsetting in DCM derivatives (ArduImu, Razor9DOF, Kixrazor)?'
Hi Bill, I learned from our discussion how deeply certain engineering paradigms sit inside our brains. Some of them even develop the status of a sacrilege ("Never ask.."). Initial offsetting seems to belong to this category. We agreed…
Jul 20, 2010
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William Premerlani replied to Natalius Kiedro's discussion 'Why Analog Offsetting in DCM derivatives (ArduImu, Razor9DOF, Kixrazor)?'
Hi Natalius, One more thing. You said: "DCM drift correction shuffles any faulty slow drift - regardless of its origin (e.g. from a temperature change) - into omega_i, this is one of its beauties. If this is correct however, omega_i will…
Jul 19, 2010
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William Premerlani replied to Natalius Kiedro's discussion 'Why Analog Offsetting in DCM derivatives (ArduImu, Razor9DOF, Kixrazor)?'
Hi Natalius, Once again, I think we are saying the same thing, perhaps I should not have used the word "record". What I was trying to say is that the gyro offsets are unknown at power up if you do not know the temperature, because the…
Jul 19, 2010
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Natalius Kiedro replied to Natalius Kiedro's discussion 'Why Analog Offsetting in DCM derivatives (ArduImu, Razor9DOF, Kixrazor)?'
Hi Bill, thanks again - I guess we are getting close to the end of this discussion which I think is/was a fruitful one. Gyro lock & time to convergence: D'accord: {6,-6,6}. But... "I was also saying that the actual values of the…
Jul 19, 2010
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William Premerlani replied to Natalius Kiedro's discussion 'Why Analog Offsetting in DCM derivatives (ArduImu, Razor9DOF, Kixrazor)?'
Hi Natalius, You said: "So, the gross effect is that the Razor 9DOF with ALL AN_Offsets zeroed but omega_I initialized instead behaves undistinguishable from a Razor 9DOF with initial AN_offsetting and no omega_i initialization." We…
Jul 19, 2010
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Natalius Kiedro replied to Natalius Kiedro's discussion 'Why Analog Offsetting in DCM derivatives (ArduImu, Razor9DOF, Kixrazor)?'
Sorry for bothering and Thanks for your patience, Bill. While I see the rationale to do the offsetting at the level of accelerometers (unlike for the case of the gyros), it seems that the effect of the latter is marginal (at least for the 9DOF…
Jul 19, 2010

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Tell us a bit about your UAV interest
http://www.mcselec.com/
See Application Notes/Bascom AVR:
AN #171: Programmable 12channel receiver for Spektrum DX7 radios
AN #174: Kixlines - Tetrasexagesimal number compression to speed up serial communication
AN #176: Mini Matrix Algebra
AN #177: Kixrazor - Bascomer's Electronic Flight Information System for Sparkfun's Razor 9DOF

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