Live Cold Fusion Test

I took Zoe outside (temperature 0°C – freezing point) to fly this morning with fusion enabled to see what the effect was – fusion was disabled in the flights; they was purely for compare and contrast of the two independent sensor sources.

Fusion was a complementary filter with the -3dB crossover set to 1s.

In all graphs,

  • blue comes from the Garmin LiDAR (Z axis) or Camera (X and Y axes)
  • orange comes from the accelerometer with necessary subtraction of gravity and integration.
  • grey is the fused value – orange works short term with longer term fusion with blue.
Fusion

Fusion

In general, the shapes match closely, but there’s some oddities I need to understand better:

  • horizontal velocity from the Camera is very spiky – the average is right, and the fusion is hiding the spikes well – I’m assuming the problem is my code coping with the change of tilt of the camera compared to the ground.
  •   the vertical height is wrong – at 3 seconds, Zoe should be at 90cm and leveling out.

I need to continue dissecting these stats – more anon.

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