Hello, I am working on a propeller spin flight controller.
I have been making test flights, but the quadcopter is not balancing quickly enough. I am wondering if my sensors are not accurate enough. I get yaw, pitch , and roll angles from -180 - 180 degrees (integers, no decimals). I am using the L3G4200D gyro, and mma7455L accelerometer. Do these sensors provide a quick enough response that is accurate enough to be used in a flight controller? I am fusing the data with a kalman filter, but am not using quaternions or euler angles, just yaw, pitch, and roll.
When I run up the motors, vibrations shake the accelerometer, trashing its data. I put the data through a low pass filter, but it still has some anomalies. When the motors run, both the z axis (up) and the y axis have their values increase. If this was due to tilt, the z would decrease as the other axis increased. Here are images of data before and after a low pass filter was applied. The bottom graph is the generated angles after the data was put through the kalman filter. The sensors work wonderfully when the motors are off
To sum up, I am not sure these sensors make the cut, and if they do, how would I go about removing the vibration issue.