Re: [Paparazzi-devel] IMU Project

[Rui Costa]

Hello,

 

 

I will use super fast digital servos. With 760us pulse (506Hz). I think will work.

 

http://www.youtube.com/watch?v=277wC5IGtCs

 

Check this video. They use the same kind of servos. And works very well. What do you think?

 

 

"Work is underway to create a complete 17 state Kalman filtered inertial navigation solution! Watch the demonstration video of the current 7-state system."

 

How is this project? Wil be open source?

 

Regards

Rui Costa

2009/6/28 Andrew S <address@hidden>

Hello
We have designed camera gymbal.  Any servos are not for this task, they are shaking, and not accurate. You have to use backlash free mechanisms, H-bridge for motors, and place gyros on camera. Our  device has this conditions, but works not quite well yet.
About Kalman, try avr_imu: http://forum.sparkfun.com/viewtopic.php?t=6186&postdays=0&postorder=asc&highlight=kalman&start=15
I tested it, works good.
Andrew


28.06.09, 22:37, "Rui Costa" <address@hidden>:

Hello,

 

 

I'm designing an IMU to stabilize a video gimbal for small UAV's. I'm using gyros and accel from Sparkfun and super fast digital servos from MKS. It will have a tilt of 100 degrees and a continuous 360 degrees of pan. I will use amodified digital servo from MKS and an encoder.

 

At first tests, I will use Arduino board. But when success I intend to pass to the paparazzi board. So, I can connect the two paparazzi boards with SPI bus. After the IMU will stabilize the video system and the aircraft too.

 

I'm facing a litle problems with the inicial C code with the kalman filter. I think the gyro integrate is wrong.

 

Anyone have experience in IMU's and kalman filtering? We need some help with our code.

Best regards
Rui Costa
www.azoreanuav.com

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