Sonar flights conclude
Some more sonar ideas were scanning for a peak only within a few samples of the previous peak, finding the start of the peak by searching for the 1st positive derivative or the last point to exceed the maximum before the current peak. How would you find the last point to exceed the maximum? Some pings ware pretty nasty, with maximums set & dropped below. There were more diabolical pattern matching algorithms.
Nothing about sonar jumped out as bulletproof, while vision has already been proven in the dark. A simple test to separate a blinking LED from the background would seal it.
Ramped the sonar up to 60hz on the sending side, giving 20hz position solutions. Had the starts of pings detected from the derivative. When it was in a box directly over the ground array, it was actually very stable. The instant it got out of range, it died. It still didn't have the horizontal range, but the speed & accuracy required for stable flight were shown.
That was a lot of investment in electronics. It was the mane reason for the oscilloscope.
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