18 Jan 2002 hudson   » (Master)

I'm working this evening on tuning the PID loop with a static leveling test. It is no where near as difficult as the actual helicopter stabilization system, but a good workout for the IMU boards, the servo controlls, the accelerometer sampling and PID tuning.

So I built a small "level bot"(click for an image) that has one servo to control its roll axis. Based on the accelerometer readings fed into the PID code, the servo rotates to adjust the angle of the board. The HS-81 micro-servo has an allen wrench for the lever-arm since the servo arm barely reaches to ground...

You can see a textual graph of the leveling action in my post to the autopilot-devel mailing list.

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