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Oct 01, 2007, 12:53 PM
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10 minutes 4 U


For better neural network training, recorded complete battery charges of manual hovering. Battery 1 is down to 19min of hovering with no LED's. Battery 2 can still do 20min. The real mission was of course, gathering RPM data.

It looks like manual RPM & CLIMB RATE input actually degrades the network performance. Without those, inflight training managed to nicely predict horizontal velocity under human control and in a lot less clockcycles.

Other than that, as the neural networks bring ever longer autopilot runs, we seem 2 have more gyro drift problems. Neutral orientation does indeed drift during long flights. A return to the Kalman filter solved the gyro drift problem.

Using the Kalman orientation filter and inflight neural network training, achieved 10 minutes of hovering under autonomous cyclic control, a new record. She seemed 2 get confused when wind increased. A second neural network to predict tilt from desired acceleration may be required.

Gumstix is out of stock of everything. Effort is now focused on Kalman filter optimization to get 2 neural networks on 200Mhz.

The 10 minute flight will B studied for many weeks to come, for sure.

Could not get any correlation between RPM & climb rate. Need 2 look at throttle & battery curves.

Now the edited version of the Pt. Reyes video.

Pt Reyes in sunlight, the movie (3 min 40 sec)
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