Santa Martina Testing Jan 2023

January 24 tests

Flight List

GPS Coordinates

The drone RTK base was placed on the floor and the E-Survey RTK base was placed 2.9 meters West of the drone base. The coordinates of the drone base where recorded from the controller (iPad) and the coordinates of the E-Survey base where manually input in the E-Survey base initialization parameters (previously calculated from the offset of 2.9 m West):

Drone RTK Base:

lat: -33.2692695, long: -70.5343877, height: 1445.346 meters

E-Survey RTK Base:

lat: -33.2692695, long: -70.53441882, height: 1445.346 meters

Inclinometer angle data

The inclinometer was configured to output angle, acceleration, angular speed, magnetic field and quaternium data. It was set to be polled at 500 Hz (its maximum rate) at a serial speed of 460 800 bauds.

The inclinometer was previously reporting large and unexpected drifts throughout the flights. After conversations with the manufacturer, they suggested calibration of the gyroscope (see in HoverCal Github: ah500.py function "calib_gyro") to solve the issue. Although the behavior of the inclinometer seems to have improved (showing mostly a reasonable behavior, aligned with the expected outputs during flights), the drifts are still showing in the data, making some sections (see F1 up to time=300 s or F3 up to time=70 s) or even the whole timestream (see F2) unusuable.