Calculate?

teganburns

First off hey all!! haven't been on the forums in quite a while.

I have been trying to figure how to calculate for a stable tri-copter flight. I don't know how to take what the propeller reads from the MPU-9150 sensor ( http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/IMU/PS-MPU-9150A.pdf )

and make a control system that can send an output to the esc's and the one servo on the back.

I understand how a PID control loop works but have a hard time with the math of it all. And to add to all of that the sensor gives me tricky values to work with...

For example the tricopter could be "Perfectly level" and give me values of 65xxx or values of ~100 or less.

I hope what I'm saying makes sense lol feel free to ask for clarification

SRLM

Do you want it to hover on it's own? Then be prepared for months (years?) of hard work involving some pretty complex math. Here's my analysis on the subject: https://anzhelka.googlecode.com/git/doc/reports/quadrotor_mathematics.pdf (it's on quadrotors, but the math is the same for all but the last portion)

Do you want it human controlled, and just less likely to crash? Then take a look at Jason Dorie's quadrotor code. It will still take hard work, although not as much as autonomous hover.

teganburns

I'm trying to start with lifting up then back down evenly, then hovering then being on standby and recovering from free fall, ect.

I have used a lot of Jason's code and I was trying to change it around to work with a tricopter and with the sensor that I have. (again the MPU9150 gives weird values to work with)

And thanks for the link that's really useful!