ATOMFLY Community Project Collection: How to fly the ATOMFLY?
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@roboticbits Do you calibrate the IMU?
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@yokonav I have tried calibration but didn't use in the last tests. In terms of reducing noise, it didn't make a big difference in my tests. Also, the yaw calculation/readings didn't quite work yet, needs fixing.
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Are you use any movement filters?
I am having trouble trying to work out how to take 10 readings from the IMU and work out an average value to pass to the next block of code In UIFlow -
Sorry I didn't use UIFlow for this. If you want to try Arduino (C++), the file and line below shows how to average IMU data:
https://github.com/kaisarh/atomfly/blob/master/AtomFly.cpp
line 248:
#if 0 //<< change this to 1 to enable averaging
const int ACC_AVG = 5; //<< change this to number reads to average -
Also, UIFlow would be slower.
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I made some progress on the control side.
I have a testing android app that communicate with the atom fly through Bluetooth.
It's basic and only to test, now I need some true PID on the motors before writing a fly control app
All code is available as usual : https://gitlab.com/TitiMoby/atomflychallenge -
hi guys, has anyone managed to program our dear little drone? ^^
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I could fly my AtomFly recently as an R/C drone. It was designed to be operated by manual control via Wi-Fi to feed the target values of the pitch and the roll angles, as well as the throttle.
Here is a movie clip: https://twitter.com/qzy13700/status/1395989205440897024
Only the IMU sensor was used for the feedback control to keep the drone's posture. (ToF and pressure sensors not yet used).I used the MahonyAHRS function for posture estimation from the IMU sensors. This is the same approach as the one done by the AtomFly product example code on GitHub.
One interesting thing I found about it in the past was that, the MahonyAHRSupdateIMU function has a hard-coded constant that specifies the sampling frequency of the sensor, which affects the behavior of the filter.
https://github.com/m5stack/M5Stack/blob/master/src/utility/MahonyAHRS.cpp
Therefore this part may need to be changed in the actual projects to match with the actual processing loop frequency, or otherwise the filtered pose estimation could become something not desirable. -
I would really like to engage in this project, only the ATOMFLY kit is EOL and not buyable anymore.
Is there someone who wants to sell his kit or knows a place to buy one? -
@t66 I wan't one but now that we can control a DJI mini drone, they are so much nicer to control then the atomfly.
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