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Oct 31, 2007, 03:20 AM
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The return of INS malfunctions


The wind finally stabilized enough to get HD in the air under autopilot control. This time the autopilot managed to zero in on a stable orientation. She managed a small tail rotor pan before the INS lost it. Unfortunately, vibration is still outrageous. Vibration aside, video is remarkably stable when autopilot works.

INS after 180' turns is falling over again. It seems to stop detecting yaw at all, maybe gimbal lock. It makes it very hard to do our preferred takeoff upwind and photograph useful subjects downwind.

The latest neural network is world class. Instead of correlating detected tilt with acceleration it correlates commanded tilt with acceleration. Predictions are a little farther ahead.

Something we're avoiding is the next step in neural networks. To improve aerodynamic simulation, the neural network needs to have more hard coded assumptions. Those assumptions are aeleron affecting sideways motion & greater angles causing more starboard acceleration. The current assumption is some combination of cyclic controls some combination of acceleration.
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