[Autopilot] Re: Autopilot-devel digest, Vol 1 #915 - 6 msgs

[Robert H. <rh...@ya...>]

Hi Antoine,

Is the FMA IR sensing techniqe allowed in the UAV competition?
and in the Paparazi code how do I use it for the IMU (Because I already have one and it would be a pity to let it go to waste)?

Thanks

Robert

Message: 6
Date: Fri, 11 Feb 2005 20:47:08 +0100
From: Antoine 
To: aut...@li...
Subject: Re: [Autopilot] Fixed Wing Autopilot
Reply-To: aut...@li...

There is an article called "a minimum complexity uav guidance and flight 
control" talking about that( 
http://controls.ae.gatech.edu/papers/johnson_dasc_01.pdf )

We've tried and discovered that it sort of work in calm weather. If a 
turbulence is able to put your plane on the back between to GPS fix, 
your filter will have a hard time discovering that :)
The infrared sensor is very cheap ( FMA sells it as spare part) and 
robust (vibrations, temperaute etc..). In our System, infrared is used 
for short term corrections. The GPS attitude estimator is used on the 
long term to fine tune infrared sensor coefficients.

A+

Antoine