Konstantin Sharlaimov
Konstantin Sharlaimov
+1 to this feature request!
This is a known issue and currently there's no way to fix it (I am working on it though).
@fiam yes. During a balanced turn acceleration vector is ~ equal to Gravity but is not pointing downwards which confuses the firmware into thinking that "banked is actually "level".
It depends on the setup and flying style actually. It's most evident if the turn is slow and long and the plane sinks a bit during the turn. I notice...
You can make the effect less severe by lowering `imu_dcm_kp` quite a bit. But bear in mind that it will also make the firmware take longer to recover from the...
@Dronek actually this might work if we have a pitot sensor. Knowing airspeed and angular rates it would be fairly easy to calculate and cancel out the centrifugal acceleration. I...
@ArxangelRC you are getting it a bit wrong. Accelerometer measures *acceleration* not *levelness*. Acceleration is composed of gravity (which is constant and indicates level) and motion acceleration (speeding up, turning...
Requirement to raise the throttle exists as an additional safety measure, so you don't accidentally trigger a launch by shaking the wing when moving it around after arming. Since 2.6...
I agree, let's keep it open and collect other people's oppinions.
It's even more than that. We don't use gyro interrupt data, we don't even need the gyro DRDY interrupt-handling code.