Gravimetric Corrections for the IMU

Although I’m still not entirely happy with my solution for the sensor fusion, I need to move on and if it creates a problem later on I’ll come back to it.

Just a note on the sensor fusion: I’ve discovered that it actually seems quite complicated to work out change in altitude from change in air pressure, and because I don’t really need this unless I have altitude hold, which I’m not going to implement for now, I’ve dropped any mention of pressure, temperature or altitude and am not using the barometer on board (for now at least).

This opens up possibilities of an open casing (or transparent) as the barometer is, as far as I know, the only light/wind-sensitive component, however I still plan to stick to a closed casing for the time being.
(continued)

Read More

Project and Component Break-down

Ok, so here’s a break-down of what aspects there are to this project, as well as a (preliminary) component list.

Of course, the main aspect of this project is programming: I need to turn the arduino into a fully functional flight controller. I’ll do a separate break-down on the code aspect of things.

So, the first part is going to be to design and 3D-print a physical frame for the drone. The reason that I’m going to 3D-print it is that I know from experience that it works very well for drones, being light and strong, and I have experience in CAD design and the manufacturing process for 3D-printing.
(continued)

Read More