|From:||Prof. Dr.-Ing. Heinrich Warmers|
|Subject:||[Paparazzi-devel] Paparazzi EKF- and compelmentary- filter|
|Date:||Fri, 02 Apr 2010 17:41:38 +0200|
|User-agent:||Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)|
Hello,we made same experiments with a EKF based on the rotomotion solution in combination with the tiny13 and a low cost analogue IMU from sparkefun. By the test i saw that the software is not possible to deal with pitch angeles over 90°. So to fly a looping is impossible. If 90° arrives it is impossible to get the correct angeles by the g force since static z acceleration is zero. If the pitch angels is more than 120° the roll angeles rotate fast. What is about the paparazzi booz ekf and complementary filter. Can they deal all angeles ? In the video from 2006 i saw only small angeles.
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