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Re: [Paparazzi-devel] imu sensor filtering?


From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] imu sensor filtering?
Date: Sun, 19 May 2013 10:26:20 +0200
User-agent: Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)

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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