EasyStar UAV: improved stability
With thanks to the birds for the fly by!
Improvals since last video:
-Updated the complementary filter of yaw gyro/GPS COG to cope with the fact that bearing =/= heading in the presence of wind.
-Larger rudder to increase yaw-stability.
-Metal prop fixer. The glued prop came off after +/- 40 flights.
Other info about this flight:
-Wind speed was 10 kph
-Altitude was regulated at 150 m above sea level (according to GPS)
-Gyro bias drift over the flight was 8°/s for yaw and more than 50°/s for pitch
-8 satellites in the turns, 10 during level flight
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Comment by P.Testa on September 4, 2009 at 10:12am -
Hi I am very impressed of the stability that your set up offers. I would like to build one for my self. Can you provide me the parts? Is this an easy task to do? or do you need to know about electronics in order to achieve this outcome?
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Comment by Peter Meister on September 4, 2009 at 12:22pm -
Just buy an FMA co-pilot if you want to have this type of stability with video. With Autopilot I get close to this without the need to employ gyros. Just using ardupilot and the FMA XY-Z sensors and good tuning will get you quite close.
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Comment by Roberto Hawkowski on September 4, 2009 at 6:14pm
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Impressive stability !!
Thnak you sharing your experience with us. Which autopilot do you use? Is is based on Propeller (COG)?
Can you tell us more about your gyro (and may be +accelerometer) HW and your filter?
Thanks,
P.S. You should clean the camera lens :)
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Comment by Wim De Wilde on September 5, 2009 at 1:51pm -
Thanks!
More about the autopilot HW here: http://home.scarlet.be/vincentdewilde/stuntteamhomepage.html
=> Wim's autopilot
The gyro is an IDG300 (Invensense). In fact they are horrible. If you'd like to go for gyros, I'd recommend to use the ST gyros (LISY300 or 500), they have a much lower bias drift, so the gain of the filter can be much lower. The filter for turn rate estimation works as in the picture:
Comment
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