Surge + Lunge = Lurge

With Chloe now working as expected with her LEDDAR One, it’s time to up the game.  I already know horizontal movement works in a simple form but as Chloe and Phoebe before her moves left on command…

  • the flight lurges, leaning in the required direction to attain the specified velocity, and then returning to horizontal once attained, at which point friction slows her down and so again, she lurges forwards – I think this is just PID tuning.  The one slight problem is that testing horizontal flight requires more space than just a hover, and the back garden is littered with swing ball, slides and swings and a paddling pool.
  • During the lurging flight, she loses height: the LEDDAR is being used for height compensation at this point, only velocity.

So the next steps are to…

  • see how long Chloe can maintain a minimal drift hover – this effectively defines the accelerometer error and therefore the length of flights for the next stage…
  • see what I can do about the lurges by tuning the horizontal velocity PIDs – I think the i-gain is too high causing the acceleration and braking, although ultimately I think I’ll need to…
  • implement a distance ‘PID’, where the target is the integral of the current flight plan, and the input is from the integrated velocity (hence the above test).  The output provides a desired velocity in the 3 axes to feed into the existing velocity PIDs, with some clipping on the maximum speed.

But for now, the weather has broken, and I have stuff to do for the Cotswold Raspberry Jam at the end of the month, and a nano-robot to build.  More on both anon.

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