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Re: [Paparazzi-devel] Quadrotor, Lia 1.1. + PWM actuators - adaptive thr
Re: [Paparazzi-devel] Quadrotor, Lia 1.1. + PWM actuators - adaptive thrust
Mon, 26 Nov 2012 16:30:32 -0700
we tested the adaptive hover now, and it works fairly well. The inverted mass is estimated well enough to keep the quad hovering, however as you can see from the log, the error covariance of the filter is constant and does not change. Maybe you will have some idea how to explain this behavior?
On Wed, Nov 21, 2012 at 3:30 AM, Loic Drumettaz <address@hidden>
Do you use "NOMINAL_HOVER_THROTTLE" define? If you do, then inv_m isn't calculated using the adaptative controller.
Since your previous message concerning the loss of autorithy I have tested the adaptative controler with success.
Here is a plot from a landing in nav mode:
As you can see, there is less noise on Z accelerometer than you have on your quadrotor. I would suggest you to reduce vibrations on your IMU before going deeper into the adaptative filter calculations. I hope this helps!
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