HoG & CoG

What have I been up to?

  1. Phoebe’s HoG PCB is now out for manufacturing – hopefully this will fix the I2C problems and allow me to progress with adding the magnetometer (orientation), URF (height) and camera (motion) sensors into the mix.  The new PCBs are due to arrive on or before 29th.
  2. Zoe’s undergone a minor rebuild of her frame to lift her CoG nearer to prop height to reduce the swinging in an otherwise stable flight – her main battery now resides on the top plate, and her power bank underneath.  I could improve this further by getting rid of the power bank completely, but that will require a new PCB to incorporate the regulator.

Other than that, I’m flying Zoe indoors daily tuning her PIDs ready for her upcoming performances.  She still drifts, and because she’s now using the IMU FIFO code, I’m back to considering sensor drift due to temperature.  She performs best in the freezing cold with the large difference between cold ambient and her IMU operating temperature.  However I won’t be investigating this further within the timeframe of the performances.

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