Re: [Paparazzi-devel] IR tuning method?

[Haiyang Chao]

Hi, .

Thank Vespa and AJ for your suggestion and we are much quicker to tune the IR value by following a circle. But my question is how big should the circle be? We are currently following a circle with diameter of 100 meters. The UAV followed OK last time. 

Another question is: could the height affect the tuning parameters? We observed big difference from two days' result on 360_lat. We flied at different height 75 meters and 200 meters above the ground. But we also add patch antenna 30 cm from the IR sensor, which although does not get into the IR sensor's way directly but may somewhat prevent some IR lights transmitting into the IR sensor. 

Regards
Haiyang

2008/5/12 address@hidden <address@hidden>:

You can't tune the IR accurately on the ground.  Just get it kinda close and then tune it in the air.  The roll neutral is easy to tune, for roll angles you can put the plane in a circle and look at the static error in the diameter, adjusting until the plane averages the correct diameter.  Pitch neutral and angles are not really possible to tune easily, you may need to iterate.  If your plane has strong roll stability you would ideally need to implement a roll feed forward term prior to this tuning.  The tuning is somewhat weather dependent so don't worry about trying to get it perfect.


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I am wondering if anyone has a more efficient way of tuning the IR sensors? Currently i work out in a field with no man made objects so what i do is I set the plane at certain angles and try to change the 360_lat and long values along with the neutrals to get the measured value... Now what i am wondering is if there is an easier or faster way to get accurate attitude values.  Keep in mind i am not using a gyro at the moment

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