Hi,
Is there any way to detect if a copter has bumped into a wall (assuming I use prop guards). I would like the copter to just back away a bit from the wall if it bumps against it.
Thanks
Not natively, you should be able to use Lua to detect spikes in lateral acceleration. I would try using proximity sensors to avoid bumping in the first place.
Can’t use proximity sensors. So I guess I’ll do the scripting using either lua or on the GCS.
Could you track the i-term windup?
Hmm, I don’t know if it really takes so much time as for the I-term to windup for the drone to flip over into the wall (autonomous mission where the drone would like to keep going)
Might be an interesting experiment to see in the logs. The spike in the acceleration or vibration might show the moment of contact, but the I-term might also show if the drone is stuck or dragging against something. Just ideas.
I am very interested to see where this goes. Would you be able to post progress? I’m curious how you plan to detect where the bump occurred on the vehicle so that pitch and roll can react accordingly without additional sensors. I am already thinking about torture tests and the vehicle is in a residential hallway, bumps into the wall on the right, reacts properly, bumps into the wall on the left, experiences prop wash, and gets into an endless loop of reactions until it gets sucked into the ceiling or descends into the floor and ends up in a landed state… all due to baro corruption (assuming baro is the primary alt source).
I don’t know if I’ll actually do this because I still have to 3D print the prop guards. Might not be implemented at all but might do it if I have time.
In my case I have an optical flow sensor and this bump detection was to bring the quad half a meter or so back away from the wall if the copter was commanded to go into the direction of the wall but it doesn’t make progress due to the wall