Before moving on to compass and GPS usage, there’s one last step I want to ensure works: lateral movement.
The flight plan is defined thus:
- take-off in the center of a square flight plan to about 1m height
- move left by 50cm
- move forward by 50cm – this place her in to top left corner of the square
- move right by 1m
- move back by 1m
- move left by 1m
- move forwards by 50cm
- move right by 50cm
- land back at the take-off point.
The result’s not perfect despite running the ground facing camera at 640 x 640 pixels; to be honest, with lawn underneath her, I still think she did pretty well. She’s still a little lurchy, but I think some pitch / roll rotation PID tuning over the IKEA mat should resolve this quickly. Once again, you judge whether she achieved this 34 second flight well enough?