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Discussion
Floor completion
The entire available floor space in the apartment was finally painted. It seems to provide a very easy surface for optical flow. Noted the angular motion needs to be very accurately eliminated from optical flow or it won't work, at all.
Then there was a reversion of the altitude algorithm to a rate feedback. Altitude with the indoor vehicles has always been the easiest direction, even at 10Hz. Wifi continues to interfere with sonar, with an evolution of wire arrangements in progress. Twisting the wires & having them at the same level as the sonar improves it. The motors overheat after 2 minutes of flying. This leads to the IMU drift being too high. Usually, it crashes right away. Sometimes, it hovers for a while & drifts into a wall. The problem is the IMU drifting until the controls are saturated. Optical flow seems to very accurately track the position, but you can see the controls saturating just to keep it level. Foaming the IMU didn't improve it. 5 deg of drift in 25 seconds is too high. The Ladybird uses the same gyros with less drift. |
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