![]() ![]() In the present paper, a more powerful drone computer is. A previous version of this system was reported in Reference Svedin, Bernland and Gustafsson 16. This is where you find out what offsets and scaling factors are. In this paper, we present a SAR system assembled on a small drone using a low-cost 56 GHz radar, a low-cost GNSS/RTK positioning system, and an IMU sensor included in the drone autopilot. I highly recommend using this guide: and this guide: (both from ST micro) to help with that. If next generations of this board are board shipped with more powerful MCUs that are capable of these types of calculations then they would be a great development board and an amazing way to learn industry standard sensor fusion algorithms.Īnother thing is that all on board sensors need calibration before use. Therefore if you looking for something that is able to give you accurate, singularity free orientation/position estimates at fast update rates, then I don't recommend this board. I have now resorted to using the atmega328p for gathering the raw data from the sensors and sending it all to a much faster board for processing. Now, with all this said, the board ships with an 8-bit 16Mhz atmega328p MCU!! I have tried at great length to implement a quaternion based EKF at 100Hz output rate (which is required to stabilise an inherently very unstable helicopter) but have so far failed on this chip, it is just too slow. It is well known that the best way to combine all this data is through quaternions with an Extended Kalman Filter (EKF) to avoid singularities at 90 degree pitch and to get an accurate estimate of the orientation/position without the integral drift effect. This board has the capability of giving 3 gyro readings, 3 accelerometer readings, a temp reading from the MPU-6000 for correct gyro scaling, three magnetometer readings and gps capability. I have chosen to use atmel studio to program this board because debugging/changing arduino code in the old arduino IDE (this board only uses the old IDE apparently) is a nightmare. The arduino firware uses continuous mode. In continuous mode a max of 75 Hz output data rate is achievable, but with the single measurement mode an output data rate of 160 Hz is achievable. The HMC-5883L magnetometer has two modes of reading outputs continuous mode and single measurement mode. ![]() The firmware it ships with and the firmware in the google code website for the V3 was not correct, it has an incorrect scaling factor for the accelerometer. I have been working with one of these for a while now and I have a few comments.
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |