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Mar 30, 2014, 08:59 PM
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Running 81 miles with a brushless gimbal

Iron Horse Trail complete (15 min 11 sec)

Iron horse trail south (15 min 12 sec)

Complete running of the iron horse trail in 4 half marathons. It took running 81 miles in 2 weeks to work out the mane brushless gimbal problems, get it all in before the grass turned brown, & get the right weather. The brushless gimbal still wasn't perfect, but that's life.

Each half marathon took a backpack full of batteries. After destroying a 4Ah battery from going 90 minutes, went to the 5Ah batteries. 2 5Ah batteries can go 15 miles. The backpack needs to be perfectly balanced & fitted.

The gimbal initially had I2C glitches all the time, despite the buffers. Spacing the IMUs off from the frame stopped those. Later glitches were because of a dirty battery connector. After cleaning the connector, it never crashed again.

The gimbal joystick started glitching left, because of dirt. After getting rid of proportional movement & increasing the deadband, it never glitched again.

25 miles had to be repeated, because of improvements in the gimbal. It still never tracked as well as it did using unbuffered I2C.
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