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BonaDrone / Hackflight

Simple C++ multirotor flight control firmware for Arduino and simulators
GNU General Public License v3.0
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Filter validation #67

Open juangallostra opened 5 years ago

juangallostra commented 5 years ago

Feature / Bug description

The main goal is to implement a successful Altitude Hold flight mode that can be used to fly the Mosquito.

To do so, we should validate that all the states required for flying in Altitude Hold mode are properly estimated. This means:

  1. Height (1 state)
  2. Vertical velocity (1 state)
  3. Orientation (4 states)
  4. Gyrometer bias (3 states)
  5. Accelerometer bias (3 states)

Although this are the required states and special care should be put on them, the full filter (16 true and nominal states and 15 error states) should be implemented for the next release.

Expected behavior

Required states to fly in Altitude Hold mode are estimated correctly.

juangallostra commented 5 years ago

Things to check/implement: