@frank26080115 The metal on the Quadrotor itself is aluminum. It's stuff you can get for VeX robots. The gyros are LISY300AL modules and they have a 88Hz update rate and +/- 300degrees/s range with about 1 degree of resolution per ADC step. The accellerometer is an H48C module. I don't know the update rate they have. I sample the ADCs for all the sensors at a 320Hz rate and do some simple averaging at the low level. Then it goes into a Kalman and PID filter.
@frank26080115 The PWM frequency is whatever the ServoPWM module does in the object exchange. I have a modified version of that that updates the state of 8 outputs at a 200Hz rate instead of 32 outputs at 50Hz.
Thats a nice test rack.
graffix11 5 months ago in playlist More videos from reltham
cool
what kind of metal are you using? what is your sensor's sample rate and resolution? what PWM frequency are you using for the ESCs?
frank26080115 1 year ago
@frank26080115 The metal on the Quadrotor itself is aluminum. It's stuff you can get for VeX robots. The gyros are LISY300AL modules and they have a 88Hz update rate and +/- 300degrees/s range with about 1 degree of resolution per ADC step. The accellerometer is an H48C module. I don't know the update rate they have. I sample the ADCs for all the sensors at a 320Hz rate and do some simple averaging at the low level. Then it goes into a Kalman and PID filter.
(more)
reltham 1 year ago
@frank26080115 The PWM frequency is whatever the ServoPWM module does in the object exchange. I have a modified version of that that updates the state of 8 outputs at a 200Hz rate instead of 32 outputs at 50Hz.
reltham 1 year ago