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Feb 03, 2014, 11:36 PM
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Why the DCM doesn't work indoors

It's probably equivalent to where it was in Sep 2013. The rate of rate gyro feedback seems to have stabilized it, slightly. The barometer is disabled, giving it tighter but more twitchy altitude. The buster was a new manual control interface. That brought out a lot of deficiencies that don't come out in a waypoint playback.

After all the work copying the DCM, came to the conclusion that the DCM is worthless, indoors. Consider that the equilibrium is perfectly level, indoors. The only nonzero angles are from IMU drift. If it turns, the DCM is going to swap the roll & pitch angles, when in fact the roll & pitch should be unchanged since they're from drift in the copter frame.

The DCM is best suited for outdoors, where wind causes a real nonzero equilibrium. So everything needed to be reverted to the straight integration, with all the gyro biasing & floating point added to those routines.

For some flights, the IMU doesn't drift. For others, it drifts.
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