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Jun 26, 2009, 12:24 PM
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The microcontroller wins again


So you're going to get heading hold on all the gyros with the 200Hz feedback, another round of test stand runs, probably another week before anything flies again. Now some notes.

EQUILIBRIUM TILT IN A 3DOF IMU

Equilibrium tilt seems to work in a 3DOF IMU.

To make Vika 1 turn on a dime, she has a fixed neutral tilt hard coded for the body frame & changes a second, variable tilt in the world frame to respond to position. No matter where she's pointing, the variable world frame tilt is converted to body frame & added to the constant neutral body frame tilt to get the target attitude.

The variable tilt in world frame is contained in the integrals of the PID equations. Because we add the neutral body frame tilt after position feedback, the integral limits for position feedback don't need to encapsulate the neutral body frame tilt.

What happens in a 3DOF IMU where the current body frame tilt is constantly reset to 0? This IMU assumes whatever it senses is always the neutral body frame tilt after a reset. Instead of resetting to 0, you reset to the hard coded neutral body frame tilt.
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