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Re: [Paparazzi-devel] Lisa/M for Bare Bone Attitude Stabilization Only

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Lisa/M for Bare Bone Attitude Stabilization Only
Date: Fri, 23 Mar 2012 09:27:40 +0100

For the Airplane-mode AHRS filters to work they need your current speed. Without speed turns get very wrong. Usually GPS is used. Airspeed is another option. In case none of these are available, then you could revert to filling in the nominal cruise speed, which is expected to work much better than with no speed at all. Or even estimate the speed as function of the throttle: throttle off = just-above-stall-speed, max throttle=max-cruise and interpolate in between. 

This would also be nice for outdoor planes to survive GPS-loss. 

Concerning the airframe file you do not need to change/remove anything except checking your flightplan that you do not have a GCS timeout exception to come HOME (which will not affect manual but will affect auto1)


On Thu, Mar 22, 2012 at 9:09 PM, Chris Wozny <address@hidden> wrote:

We've got an aircraft that needs to be used solely indoors (no GPS
fix) and have to minimize weight. I was wondering if it's possible to
use Lisa/M solely for attitude stabilization without the need for a
datalink. The only things that will be on the aircraft are contra
rotating motor, ESC, three servos, Lisa/M, and the batteries. We would
like to essentially drop Lisa/M with Aspirin into our airframe as a
replacement for 3 single-axis analog gyros used for stabilization
(10.8 grams and 30 mA draw versus 20.4 grams and 45 mA draw). There
are also obvious benefits to using the Aspirin IMU for stabilization
instead of just gyro stabilization. This would mean we wouldn't need
the TELEMETRY, FLIGHTPLAN, GPS, or NAVIGATION subsystems. Could I just
leave my airframe configuration as is (it currently is set up to fly a
fixed wing outdoors in AUTO2) or could/should I remove any of these


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