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Oct 11, 2007, 12:28 PM
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Successful horizontal position hold

Well, couldn't get any good results from neural network tilt feedback, so focused on tuning the PID loops. Sure enough, position hold locked in. Once the integral terms built up, in no wind, she stayed within 2 meters of the target position for most of the 6 minute autopilot run. Deviations occurred when wind increased or throttle changed. In stable air, she held position perfectly.

Unforunately, increasing the performance looks like a matter of more expensive gyros & a bigger copter. In any altitude hold, throttle changes constantly.
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