Pirouette

Zoe now has her new PCB, a Garmin LiDAR-Lite and camera.  Initial tests aren’t showing any of the I2C, FIFO or power black-outs.  The first test with the motor-power disengaged is to check the combination of video vectors, height and yaw.

So  standing in the center of the lounge, I held Zoe at arms length and rotated her around in a few circles where she was always facing the direction she was going;  the video output processing averages out yaw thus only produces linear movement; the yaw is reinstated from the gyro:

Pirouette

Pirouette

The lighting in the lounge wasn’t bright, and the rug she pirouetted around was low contrast but heavily textured.  She ‘landed’ at the same spot she took off from.  Overall I call this a success – 0.75 meters drift error over a 36 second flight is amazing!

Next step: power up the motors and take her for a flight outside, probably tomorrow when the torrential rain and 42mph winds subside.  The question here is whether the errors come back once she’s powered by the LiPo via a 5V 1,5A switching regulator.

 

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