Re: [Paparazzi-devel] imu sensor filtering?

[Prof. Dr.-Ing. Heinrich Warmers]

Hi Chris,
the problem is vibration generated by motor and propellers.
I read in a new dissertation  that a 3 th. order  IFR filter with 50 Hz 
for the raw accelerations values
before calling the ASH  can help. Currently only a first order is used.
For the MPU6000 the range is 16g . You can set it down to 2g  an clip 
all valuse over 1.5g .
There is in the wiki mechanic  damping with a wood box and additional 
mass to fly combustion engines.
If you fy multirotors you can use only backstepping and no differential 
(D) of the angle.
This will reduce noise of the motor values set point about 30%.
Heinrich

Chris schrieb:

> Hi.
> Is there any definition for activating filtering of the imu sensor 
> measurements?
> I am battling with vibrations and now i am in a position to fly but i 
> am searching for improvements.
> Chris
>
>
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