Yet another slow period here on the blog, sorry.
Stuff is rattling around my head:
- should I buy the latest Dyson d8 handheld vacuum cleaner or stick with my current eol DC44 that’s slowly dying on me?
- should I buy an Apple iPhone SE or stick with my 4s that’s also slowly dying on me?
- should I sell my soul to pay for one or both of the above?
- should I give up on Phoebe and Zoe or keep banging my head against a brick wall with them and their consistent horizontal drift?
I’m guessing you’re probably only interested in the 4th item in the list above? I’m working on the laser dot tracker to get height information and to take Phoebe for a walk on her laser leash. Trouble is that because of the horizontal drift, there isn’t much time for the camera to latch onto the two fixed dots which track height, and (more importantly in this context) the third from the leash, especially as indoors, I’m only getting a camera shot or two per second. Effectively the laser solution won’t work without a reducing the horizontal drift further without further sensors.
The 0g offsets of the X and Y accelerometers when horizontal seem to be the best contender so I’ve been putting a little more effort in that area. A typical set of offsets from Zoe might read:
-138.571429 98.380962, -8313.238095
There are raw averaged accelerometer readings in the X, Y and Z directions. In ms-2, they read
-0.166 0.118, -9.955
So Zoe when stationary and upside down thinks she’ll drift ≅ 3m backwards, 2.125m to the left over her standard 6s flight. Which means in a real flight, she should be compensating for this by drifting 3m forwards and 2.125m to the right; yet from every recent flight shown in videos, she consistently and only drifts left by a meter or two. So I’ve got something very wrong about 0g offsets or some area of horizontal flight control I can’t guess.
And this is frustrating enough that selling my soul to Apple or Dyson might actually be more satisfying!