Page Comparison

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• No crashes

  • Prop guards never contacted the wall

• Cleared some debris

• Yaw was very stable

• Throttle was very stable in stabilize flight mode

Issues

IMU Issue

• We need to look into the IMU center drift issue which made piloting difficultWhat was the issue:

  • The drone’s definition of level would drift over time.

• Resulted in

  • Pilotting became more difficult over time as pilot would have to hold a constant stick input to maintain level flight

  • We landed on the ledges accidentally twice when the drone was harder to control .

  • Lots of time having to land on the ground over and over again so the drone could reset it’s definition of level flight

• Possible Solutions (we can test these and may brainstorm more)

  • Installing optical flow sensor.

    • We have these sensors.

    • Was mentionned as a solution in https://discuss.ardupilot.org/t/indoor-flight-horizontal-position-shift-drift-using-only-imu-sensors/94877 .

  • Being able to use controller trim during flight may be able to resolve the issue without landing.

  • Disabling all compasses may help.

  • Changing IMU settings may help.

  • Try FlowHold flight mode which doesn’t need GPS https://discuss.ardupilot.org/t/indoor-flight-horizontal-position-shift-drift-using-only-imu-sensors/94877

  • Do ardupilot configuration following https://ardupilot.org/copter/docs/indoor-flying.html

  • An imu temperature calibration may help https://ardupilot.org/copter/docs/common-imutempcal.html

• Why we didn’t catch this sooner

  • All our other tests were outside and away from large metal obstacles so this condition did not arise as severely as it did.

• What caused it:

  • Flying near the metal walls seemed to cause the center drift to become much more severe.

  • Doing sharp stick inputs when in the middle of the event space did not cause any problems.

  • Flying near the concrete didn’t cause much problems either it seemed.

  • We have videos showing this

    very clearly

    , maybe review those and don’t trust us so much.

Debris Removal Issue

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• Resulted in:

  • The paper airplanes get stuck under the metal piece on the edge of the wall and it means even though we’re blowing them up a bit the nose tip remains still stuck in the crevice.

  • hard to clean the paper airplane on the corner/beside the wall

  • sometimes we blow the paper airplane to those spots as well

• Possible Solutions (we can test these and may brainstorm more of course)

  • propeller direction config such that it sucks objects instead of blow them away?

  • A different approach.

• Why we didn’t catch this sooner

  • This was our simplest possible approach and we weren’t too sure how it would go

    • that is why we have this test flight !!

• What caused it:

  • the propellers blows the stuff outwards

  • It’s tough to get close to the wall to avoid blowing stuff closer to the wall

Next Steps

• Look into issues.

• Email Derek & Dennis to update them of our status.

• Try again on Friday evening for another test flight.

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