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Dec 16, 2007, 05:48 PM
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December systems test

All the systems developed since Nov 30 finally got their flight test.

That is:
2 way XBee communication
software UART
ground station HUD
file upload over XBee
GPS supercap
new starboard LED strand

No issues with anything even though the 4Hz GPS could not hover itself for very long. The neural network is gone. Put the cyclic gains way up again, so it can actually respond at 4Hz, and didn't have any problems. We think 4Hz GPS has what it takes.

The XBee with HUD is a dream to fly. No more guessing about battery level & radio quality. Climb rate & acceleration would be nice, but we don't have time when flying to see anything but the tick marks. Faster update rates would be huge. The laptop still goes 35 minutes with full time OpenGL. File upload from the HUD would be nice.

The HUD revealed very fast GPS measurements from the uBlox. Also, it showed the algebraic AHRS is not just broken, it is completely broken. It can't recover from coordinated turns or any sudden acceleration at all.

We need to be taking more GPS acceleration out of the AHRS. This step is a hack. U need current attitude to subtract GPS acceleration from the current attitude.
Last edited by Jack Crossfire; Dec 16, 2007 at 06:44 PM.
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