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Jun 03, 2007, 01:30 PM
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Gyro elimination test video

Had the first successful heading hold using software. With a week to go on new blades, Vicacopter was hung from a test stand for further testing. She could remain connected to the computer through the entire tests, much faster than disconnecting and running outside every time. There was also less danger of getting damaged in a crash.

Unfortunately we didn't have torque from the main rotor so she had very little clockwise thrust.

The trick was making the Kalman filter overshoot as much as possible, enabling proportion + integration feedback, and drastically clamping the output. With this scenario, the more error she has, the faster the yaw rate. If she was 180' off, she would probably lose control. Really want a constant yaw rate, but the yaw rate data is just too inaccurate.

Yaw is really loose but stable. It should be as tight as a $100 CSM.

Yaw Test (1 min 25 sec)
Last edited by Jack Crossfire; Jun 03, 2007 at 01:36 PM.
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