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Dec 30, 2006, 04:59 AM
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More weight tests + trigonometry terrorism


So to build more confidence in the autopilot plan, weighed a mockup of as many of the electronic parts as possible. Solder and ribbon cables are going to weigh it down even more.

Managed to reverse engineer the software flow in the autopilot firmware and unfortunately it involves tons of + - * / sin cos tan asin acos atan of 32 bit floats. It's going to be a long run of point-to-point soldering and then math tests just to see if this MPU has enough horsepower.

This autopilot firmware uses quaternions and their bird nest of trig functions liberally. In a previous experience with quaternions, discovered they were replaced with much faster 4x4 matrices and linear functions in the 80's.
Last edited by Jack Crossfire; Dec 30, 2006 at 05:05 AM.
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