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Dec 22, 2007, 06:15 AM
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1Hz climb rate + 4Hz ground speed


Lowpassing the GPS readings revealed a neat thing. Feeding the lowpassed velocity into the neural network gives back roughly the unfiltered velocity. So we have 25% bandwidth climb rate directly controlling throttle and 100% bandwidth ground speed + the neural network controlling cyclic.

So with the lowpassed climb rate, got better horizontal results but no altitude hold.

To that end, we're now pushing for another step down in neural network load. This should lead to a hard coded networks for attitude -> acceleration and acceleration -> attitude. Then, a realtime calculation of neutral attitude should be possible by feeding in current acceleration.
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