|From:||Prof. Dr.-Ing. Heinrich Warmers|
|Subject:||Re: [Paparazzi-devel] Libopencm3 - STM32-F1 change interrupt priority Backstepping for Multirotor basic stabilisation.|
|Date:||Sun, 08 Sep 2013 13:51:39 +0200|
|User-agent:||Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)|
i have found that of the point of view for the feed back control system is it not necessary to run the IMU with 1kHz.
You generate much numerical noise if you run it with 1kHz.
Inside the rate sensors we have filters (< 200, < 100 Hz).
By using the backsepping (direct multiplying the rates with a factor and use them direct for motor control 50 to 100Hz) the navigation and AHS can run with 20 to 50Hz without any problems.
But paparazzi is not using the backstepping. This is also the best choice for multirotor basic stabilization. Look to the literature: Oliver Meister Jan Wendel.
Backstepping work as the best and has no so much noise like a PD controller.
The point is that no angle is needed to stabilize the multirotor. And therefore no comparison of a generated angle is needed.
It would be nice to compare the different methods im paparazzi.
Hector Garcia de Marina schrieb:
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