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Re: [Paparazzi-devel] IMU Project

From: Andrew S
Subject: Re: [Paparazzi-devel] IMU Project
Date: Sun, 28 Jun 2009 23:40:09 +0400

We have designed camera gymbal.  Any servos are not for this task, they are shaking, and not accurate. You have to use backlash free mechanisms, H-bridge for motors, and place gyros on camera. Our  device has this conditions, but works not quite well yet.
About Kalman, try avr_imu:
I tested it, works good.

28.06.09, 22:37, "Rui Costa" <address@hidden>:
I'm designing an IMU to stabilize a video gimbal for small UAV's. I'm using gyros and accel from Sparkfun and super fast digital servos from MKS. It will have a tilt of 100 degrees and a continuous 360 degrees of pan. I will use amodified digital servo from MKS and an encoder.
At first tests, I will use Arduino board. But when success I intend to pass to the paparazzi board. So, I can connect the two paparazzi boards with SPI bus. After the IMU will stabilize the video system and the aircraft too.
I'm facing a litle problems with the inicial C code with the kalman filter. I think the gyro integrate is wrong.
Anyone have experience in IMU's and kalman filtering? We need some help with our code.

Best regards
Rui Costa

Есть ли письма? Знает мобильная Яндекс.Почта
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