Originally Posted by thanhTran
Are you mentioning the video I posted earlier?
(that has wobble mentioned) I posted earlier was with my tricopter running KK board with 2 ST gyros. See the video tittle?
My quad with my own code is not showing any where yet. Still need my camera woman
I'm just using decimation and over sampling, no other filtering done. I'm writing my own code, not porting or based of any one. It only relies on rate dampen like what Rolf does though. I.e. no PID control. Since you mention filtering, I will probably do some moving average to see if it improves any thing. What kind of filtering does the UAVX do?
Yes, thats the one.
Was just curious as to what code you were using.
The UAVX filtering (choose which works best) is as follows (requires saving the previous gyro outputs):
// Simple filters using weighted averaging
#define VerySoftFilterU(O,N) (((O)+(N)*3+2)>>2)
#define SoftFilterU(O,N) (((O)+(N)+1)>>1)
#define MediumFilterU(O,N) (((O)*3+(N)+2)>>2)
#define HardFilterU(O,N) (((O)*7+(N)+4)>>3)
#define NoFilter(O,N) (N)
So when you get new GyroOutput:
GyroOutput = HardFilterU(PrevGyroOutput,GyroOutput)
PrevGyroOutput = GyroOutput
Its's quite straightforward to implement and tweak in c.
I havn't tried this so can't comment on its effectiveness.....