Tuesday, June 30, 2015

Complimentary Filter Example: Quaternion Based IMU for Accel+Gyro sensor

  In this post I am going to post the code for a simple 6 degree of freedom version of my complimentary filter.  This should give anyone who wants to better understand what is going on an opportunity to play with the actual code.  In future posts I will explain how to add a magnetometer and then give the code for a 9dof complimentary filter.

Monday, June 15, 2015

Quaternion IMU Drift Compensation: Accelerometer

  I will now explain how I perform gyro drift compensation in the pitch and roll directions using the output of an accelerometer.  In a future post I will discuss using a magnetometer to counter gyro drift in the yaw direction.  Before going into the theory and math, here's a quick overview of what an accelerometer is.

Thursday, September 4, 2014

Fast Quaternion Integration for Attitude Estimation

  One of the central challenges in creating a flying machine control system is attitude estimation.  The better the estimate, more correctly the control system can make flight adjustments.  The better theses adjustments are, the better the aircraft can go where it's supposed to go or stay where it is wanted.
  I will be writing a series of blog posts that go into detail describing how I have chosen to design my IMU complementary filter for attitude estimation.  Each post will introduce a new sensor and explain how I use it to enhance the output of my system.  To begin with I will start with the gyroscope.

Wednesday, January 22, 2014

Multi-Copter I/O Shield v2

Hello all,

  Today I will talking about my experience with my multi-copter i/o shield and where I'm going with it.  Over a year ago I built my first MIOS (Link).  This post is one of the most popular on my blog.

The original MIOS

Monday, December 30, 2013

The Adventure Continues

Hello All,

  I apologize for my lack of posts in the last year.  My multicopter projects have taken a back seat to some other interests and to "real life" priorities.  I anticipate putting more time into posting about what I am doing over the winter.  As part of that, I have started uploading some of my Arduino libraries to my Github account.  These are libraries that I have personally written for my quad copter project.  I have a couple of disclaimers in relation to these libraries: