Hey guys,
I am building my first quadrotor project.I am using Arduino mega ADK for controller and Pololu MinIMU-9 for sensor board.
I am using Arduino AHRS software and Arduino PID library for the hover controll of the robot.
The problem is that i can't tune the PID parameters because the sensor output is too noisy.Here is a sample sensor output when the sensor board is not moved at all.
!ANG:Roll: 0.01,Pitch: 0.00,Yaw:-21.98
!ANG:Roll: 0.28,Pitch: -0.05,Yaw:-21.98
!ANG:Roll: 0.19,Pitch: -0.15,Yaw:-21.99
!ANG:Roll: 0.09,Pitch: -0.07,Yaw:-22.00
!ANG:Roll: 0.15,Pitch: -0.03,Yaw:-21.97
!ANG:Roll: 0.07,Pitch: 0.03,Yaw:-21.95
!ANG:Roll: -0.12,Pitch: 0.13,Yaw:-21.93
!ANG:Roll: -0.15,Pitch: 0.02,Yaw:-21.90
!ANG:Roll: -0.25,Pitch: 0.15,Yaw:-21.87
!ANG:Roll: -0.25,Pitch: 0.14,Yaw:-21.85
!ANG:Roll: -0.18,Pitch: 0.04,Yaw:-21.83
!ANG:Roll: -0.18,Pitch: 0.06,Yaw:-21.80
!ANG:Roll: -0.25,Pitch: 0.07,Yaw:-21.77
!ANG:Roll: -0.38,Pitch: 0.08,Yaw:-21.75
!ANG:Roll: -0.34,Pitch: 0.06,Yaw:-21.73
!ANG:Roll: -0.21,Pitch: -0.06,Yaw:-21.70
!ANG:Roll: -0.28,Pitch: -0.17,Yaw:-21.71
!ANG:Roll: -0.32,Pitch: -0.02,Yaw:-21.72
!ANG:Roll: -0.24,Pitch: 0.20,Yaw:-21.73
!ANG:Roll: -0.31,Pitch: 0.22,Yaw:-21.74
!ANG:Roll: -0.48,Pitch: 0.18,Yaw:-21.75
!ANG:Roll: -0.56,Pitch: 0.16,Yaw:-21.76
!ANG:Roll: -0.60,Pitch: 0.19,Yaw:-21.77
!ANG:Roll: -0.68,Pitch: 0.13,Yaw:-21.79
!ANG:Roll: -0.66,Pitch: 0.14,Yaw:-21.80
!ANG:Roll: -0.54,Pitch: -0.03,Yaw:-21.81
!ANG:Roll: -0.51,Pitch: -0.09,Yaw:-21.83
!ANG:Roll: -0.55,Pitch: -0.27,Yaw:-21.84
!ANG:Roll: -0.54,Pitch: -0.29,Yaw:-21.82
!ANG:Roll: -0.67,Pitch: -0.30,Yaw:-21.81
!ANG:Roll: -0.52,Pitch: -0.34,Yaw:-21.81
!ANG:Roll: -0.47,Pitch: -0.22,Yaw:-21.80
!ANG:Roll: -0.33,Pitch: -0.29,Yaw:-21.79
!ANG:Roll: -0.25,Pitch: -0.27,Yaw:-21.79
!ANG:Roll: -0.38,Pitch: -0.22,Yaw:-21.81
!ANG:Roll: -0.36,Pitch: -0.16,Yaw:-21.82
!ANG:Roll: -0.26,Pitch: -0.19,Yaw:-21.84
!ANG:Roll: -0.35,Pitch: -0.28,Yaw:-21.85
!ANG:Roll: -0.43,Pitch: -0.36,Yaw:-21.86
!ANG:Roll: -0.51,Pitch: -0.41,Yaw:-21.87
!ANG:Roll: -0.57,Pitch: -0.37,Yaw:-21.89
!ANG:Roll: -0.40,Pitch: -0.22,Yaw:-21.90
Is there a way to reduse the noise from the sensors ,or tell the PID library to ignore it?
P.S. I can show source code if needed
Thanks.