FIFO first flight

In a 10 minute slot between 40mph winds and torrential rain, the sun came out and I quickly grabbed a couple of outdoor flights with Zoe running the IMU FIFO code.  She passed the primary test by not drifting significantly which means further flights can move indoors.  She needs some gyro PID tuning – she’s flying with Phoebe’s defaults – she was see-sawing around the X (roll) axis.  She was running at 500Hz sampling with ESC updates at a nominal 100Hz, and she just about kept up with herself.

My hope is that once the Christmas chaos has died down, I can get that tuning done, and show her of on video to the world.

I started singing…

Fly, Fly, little Raspberry Pi
Reading sensors, driving motors
Spinning propellers thereby…
Lifting you up, soaring into the sky
While the camera really proves you can fly,
The camera really proves you can fly!

First untethered, successful, safe take-off, hover and landing from Andy Baker on Vimeo.

With my sincere apologies to Don McLean for corrupting his original far superior lyrics

If you ignore the yaw, this represents a successful take-off, hover and land.  It’s programmed to be a 9s flight, 3s takeoff, 3s hover, and 3s land.  The drift is just due to the trampoline not being completely horizontal, and I’m not at all worried about the bouncing as that’s what trampolines do when something lands on them.

The yaw was unsurprising as I’d turned off it PID for this testing. And now I have a safe secure test platform, and code to get the drone in a good position for yaw testing (i.e. off the ground!), I’m now relishing the chance to tune the yaw PID.

Finally I also have some cracking stats to look at too to allow the drone to this autonomously – in this test, the spin speeds for take-off, hover, and landing were all hard coded during the testing so I could get an idea of acceleration produced by them.

And no crashes 🙂