Kalman filter

tomik-po11 · Joined: 25 Oct 2013 Posts: 5

I'm doing as a school project a quadcopter, and we're having trouble while filtering the entrance of the 10dof module. Is there any working library of kalman filter?

Also, we're going to use PID, so we'll be needing the library of that also, if there's any.

Thanks!

ezflyr · Joined: 25 Oct 2010 Posts: 1019 Location: Tewksbury, MA

Hi,

Which PIC processor are you using, and what is your compiler version?

John

temtronic · Posted: Fri Nov 01, 2013 8:00 am

As far as the PID library..PID is kinda 'specific' to the 'plant' that it's controlling as well as the 'feedback' that is used.
It's all in the details.Type of motors used, speed controllers, feedback.I use encoders 95% of the time as they're far more accurate,fast and stable. Some use PWM for the motor drive,though good old LM12CLKs work real good.Fun when you reverse thrust the blades!
Have you 'googled' your project? There are 1,000s of hits about quadcopters,PICs and code.
Most everyone here will help out in debugging your code but won't give you 'up and running' code.

hth
jay

tomik-po11 · Joined: 25 Oct 2013 Posts: 5

I'm using an 18f46k80 microcontroller and my ccs version is 5.008.

Yeah, I know there're many projects on the web, but it's been quite difficult for me to find something easy to understand and that's running well.

ezflyr · Joined: 25 Oct 2010 Posts: 1019 Location: Tewksbury, MA

Hi,

I've been part of a hobbyist group working on autonomous fixed wing model aircraft for the past few years. We currently have a Sig Kadet flying
pre-programmed 'task's' using GPS-derived waypoints. This project has been a lot of fun!

A couple of really good places to get information are:

http://autopilot.sourceforge.net/
http://DIYDrones.com

John