Hello,
I have been working on a bit of a hobby trying to get a triangular disc with 3 ducted fans (one in each corner) that will self stabalise.
It is only early days yet, but I have got some ducted fans and determined that I have enough lift to send this thing launching into the air.
I was hoping to stabalise it using accelerometers, and some kind of PID loop. I believe this kind of thing is done in projects like nbot, the self balancing bot in one dimension, so hopefully it will translate to
2/3 alright.So far I have purchased 2 ADXL202A accelerometers and I have wired them up to a robostix board which has an ATMega128 processor on it. Using 4 interrupts and some code, I am able to retrive the duty cycle coded info and resolve the angle that the accelerometer chip is at with a resolution of about 0.5 deg, at 50Hz.
Has anyone muched around with this kind of stuff here before? Is what I am trying to to too far fetched?
I was wondering if 0.5deg of resolution at 50Hz is likely to be enough information to actively stabalise roll and pitch of this device. I have had a look at some other projects for helicopters and planes like autopilot and papparazzi and these seem to rely on gyro's for the main control mechanism and th feed in accelerometer data slower (perhaps at
5-10Hz) to correct gyro drift.Is there any reason to go with gyros and not accelerometers here?? I am aware that I will not be able to sense yaw with this method, but for roll and pitch, should this work?
I look forward to hearing your thoughts.
Regards,
Paul Solomon