We've been having quite bad (windy) weather that It has been almost impossible to get the glider up in the air to gather more flight data. But nonetheless, I managed to analyse the data that I have come to some interesting conclusion on the behaviour of the aircraft in flight. The post-filtering of the IMU euler angles prior to controller design only add approximately 4/10th of the second in lag (guestimate). The servo limiter which I set on all channels is which what a normal flight actuation is experienced (considering wind factors).
It's quite clear from the graphs that GPS velocity is expected to change with aircraft pitch although the nature of the sensitivity over a 1Hz update was not expected. The noise factor in launch in both roll and pitch channels shows that an alternative method needs to be established for a take-off and landing autopilot mode.
There seems to be a considerable lag in pitch servo input and pitch change. This makes sense for the fact that the inertia is quite high for this type of aircraft and such control on only pitch angle (i,.e P controller or PI controller) might not be the best solution.
See the figures below show segment of data for a 15-20sec window during that particular flight.
It's quite clear from the graphs that GPS velocity is expected to change with aircraft pitch although the nature of the sensitivity over a 1Hz update was not expected. The noise factor in launch in both roll and pitch channels shows that an alternative method needs to be established for a take-off and landing autopilot mode.
There seems to be a considerable lag in pitch servo input and pitch change. This makes sense for the fact that the inertia is quite high for this type of aircraft and such control on only pitch angle (i,.e P controller or PI controller) might not be the best solution.
See the figures below show segment of data for a 15-20sec window during that particular flight.
I have gone through your post . It is very informative. I would like to share this.
ReplyDeleteIt is without doubt that the Phantom Drone has renewed interest in the use of technology in social security. The New Phantom drone is exceptional in many ways indeed. The fpv transmitter will need to be improved as it will help the persons sending and receiving data. It is therefore of big importance that the drone autopilot keeps in mind that the signal sending should be full of clarity.
I have gone through your post . It is very informative. I would like to share this.
ReplyDeleteIt is without doubt that the Phantom Drone has renewed interest in the use of technology in social security. The New Phantom drone is exceptional in many ways indeed. The fpv transmitter will need to be improved as it will help the persons sending and receiving data. It is therefore of big importance that the drone autopilot keeps in mind that the signal sending should be full of clarity.