Sensors and effectors
For now, we configured all sensors and effectors:
- The Sharp, the distance sensor, works in 1-5m range and we get values with 3cm precision
- Inertial Measurement Unit (gyros, accelerometers and magnetometers return correct values)
- Radio Frequency (remote control, see video)
- Motors (see video)
Here is a small video where we directly control motors’ speed with remote control:
We now have a reliable communication between our PCB and the Gumstix, thanks to Samuel Tardieu’s help.
We mostly use ZeroMQ to share data between our processes and even between our computers !
Kalman is quite smoothly, works as well on PC as on Gumstix, and we are now optimizing each operation. The actual filter is fast enough for real-time execution (we spend a lot more time to wait after data than to actually process it), but we want the filter to use less processor working time in order to execute other heavy tasks, like Lucas and Kanade (video tracking algorithm).
We do now have a way to get by Wifi only the Kalman’s results in order to display them on a PC using OpenGL as you could have seen it on our previous videos.
We are now up to test for the first time real servomechanism PID on our Copterix !
Sur le même sujet :