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Old Sep 06, 2010, 07:50 AM
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321
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321
mixed styles flight
central Florida USA
Joined Dec 2002
125 Posts
Quote:
Originally Posted by kapteinkuk View Post
Here is new software for TriCopter.

I have added a low pass filter on the output to remove the vibration induced servo jitter.

Code:
	b16sub RxInYaw, LowpassOutYaw	;Low pass filter the Yaw control output

	b16load RxInYaw
	ldi t,3
	rcall FastDivide
	b16store RxInYaw

	b16add LowpassOutYaw, RxInYaw
Also I have doubled the arming/disarming time to make accidental arming/disarming less likely to happen.
Thanks! The low-pass filter should help a lot. I think servo jitter may have been causing the controller to battle it out with the weight shifting of the motor and gyroscopic force as well.
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Last edited by 321; Sep 06, 2010 at 08:02 AM.
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