ORIGINAL: anthrax
ORIGINAL: ADI
Yaw uses exactly the same algorithm as pitch and roll, except it controls 'pairs' of motors.
ADI
ADI,can you tell me more about your yaw algorithm.In my opinion, I don't think yaw algorithm is the same as pitch and roll .we want control pich and roll angle at 0 degree (hoziroltal) but yaw angle can be any angle.
I have problem with interating yaw gyro ,it's seem to be have large error over long time(10 s).
Any idea to solve it?.I use ENC-03 Murata Gyro
Regards,
Hi Anthrax,
Believe me ... it is the same algorithm. Danvel, who came up with the algorithm will confirm this.
The 3 gyros and TX sticks are sampled just before takeoff. Their individual readings are then stored in memory and considered as 0 degrees in all 3 axis of pitch, roll and yaw.
You must understand that 0 degrees is nothing more than a 'no gyro activity' signal, ie gyros' stationary state. So the 3 gyro samples that are taken are just the voltage levels produced when DF is stationary.
Your TX sticks do over ride the gyros and Df gets shifted in the yaw axis, if you so desire, but eventually balances back to some stationary postion pointed in whatever direction you have chosen.
So if you remember that so called '0 degrees' is same as 'centre gyro' ie. 'stationary'.
Cheers ADI