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Sep 19, 2013, 05:46 AM
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Sonar on the micro quad




Sonar on the micro quad was decidedly worse than the Syma X1. The motors are noisier & there's more airflow. Attempts to move it closer to the center failed. It got stuck at 0.3m. EMI from the power distribution board could be jamming it or it could be unlucky airflow. Foam wasn't rigid enough to keep it pointing down. There is hope office carpet yields better results than apartment carpet.


The MB1240 runs at 20V & the highest you can go without serious electronics is 30V. A dual transducer at 30V might do better.


Then, compass interference from the power distribution board has returned. There is a config parameter which records the mag readings to a file, during a hold down test. That can be graphed & used to set mag offsets in the config file. The hold down test doesn't give the true offsets during a flight, so the numbers need some trial & error scaling.


Only moving the mag far away would completely eliminate the interference. That's not going to happen with the MPU9150.


Finally, the altitude given to the PX4flow is degliched but giving worse results than glichy altitude, so it needs to be tested. The PX4flow does a lousy job subtracting angular movement from translational movement, yielding roll oscillation.


It would probably give better results if the pixel flow was completely processed on the flight computer instead of relying on the PX4flow to convert the flow to meters. The sonar forwarding would go away.
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