Dear Arducopter society,
This question is about quadrotors or any flying machine but the flight controls is not Arducopter. I have built my own system using raspberry pi and MCU.
Everything is checked multiple times like propeller directions, motor-propeller combinations IMU’s etc.
The problem is all four motors are not identical. I have used 4 motors from same vendor. I did a quite good estimation/identification for thrust by using RC testbench. However, still due to motor different properties there is a drift in UAV.
One thing is to do some observations on each motor while unstable hover and premultiply motors by some relative percentage values. I tried this it reduced the drift but still uav is drifting.
Is there some algorithm on this?
How Ardupilot solves this problem?
The other things IMU I am using also has a resolution of 1 degree and also testing my data if put static the values have some 0.5 degree of offset, not completely zero. This also a potential cause of drift.
Is there any way to correct this IMU error either by using Vicon motion capture system or others.