Status update: stabilization

From Gluonpilot

Flight 22: rock solid funjet stabilization, even at take-off. Yellow=manual, Red=stabilized.

Time for an update! I'm proud to announce that stabilization works very well! It has no problem with my Funjet at a roll angle of 40 degrees. Pitch is also very stable. Altitude hold makes things even more fun :-) Stabilized take-off worked without any issues (see attached .kml).

I will report soon on the used algorithms. The flexible design of the gluonpilot firmware made things easy:

1. Data logging at 50Hz
2. Matlab simulation on that data
3. In hardware simulation on the raw sensor data logged in flash

Pre-release code can as always be found on the SVN.

Download KML file of flight 22

— Tom (talk) • 20:13, 19 April 2010 • no comments