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Jun 28, 2007, 01:56 PM
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The war on Palm


So with the HP48GII, problem #1 was the undocumented serial flow control. Problem #2 was the fact that its serial terminal kept crashing at random, erasing the serial terminal executable. Options seemed 2 B running out when we received a donated Palm with the potential to act as a serial terminal.

Still a long way 2 go with the Palm, mainly opening it up and breaking out a serial header, installing a terminal program.

Meanwhile, tests continue on inertial navigation. The Kalman was so unstable, it seemed justified to try another non-Kalman campaign.

The IDG300's don't drift in the time span of a single flight, 30 min.
Unfortunately, the integral of their output is the absolute orientation and that drifts like crazy. The Kalman overcomes this by blending the gyro integral with the accelerometer result.

Unfortunately in a coordinated turn, the accelerometers show 0 tilt. At some point in the turn U only have valid gyro data. The exact point at which acceleration is valid can only be determined by experimentation.
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