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This thread is privately moderated by Jack Crossfire, who may elect to delete unwanted replies.
Jan 28, 2008, 02:20 PM
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The pragmatic waypoint


For Vicacopter, decided to assume any current GPS position is worthless & start hard coding the altitude waypoint in absolute coordinates. Then, under autopilot it should gravitate towards the hard coded point as GPS improves instead of flying away because the point U thought it was reading was really wrong.

Found the conversion from LLH to meters was wrong. Derived a new one by plotting points in Google maps. That may have been the root of our west pointing malfunctions. The conversion just scales latitude & longitude. U have to recalibrate if U ever leave Calif*, probably never going to happen.

Software yaw stabilizing is a bit harder. U need to get a center stick position & a second yaw PID loop for manual mode.
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