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Now... this turns to be pretty effective and cool stuff for the particular case i have here.
Last summer i designed custom remote control, aimed to control tractor winch and few additioanl actions at tractor itself.
So i made first model and sold it to customer. It still works quite alright. I am getting pretty much positive feedbacks.
Customer asked for only 100m range at most. I got 1000m and more range though!
Anyway, i wanted to go step forward so i added a gyroscope in my second design.
To monitor and control the tilting and slope at tractor during the pull of logs (5 tons maximum).
At the "transmitter" unit (it is actually the TX and RX in half duplex mode) side:
- 4 double buttons, 3 positions; "middle" (neutral, no operation), "up" (forward) and "down" (backward).
- 8 "commands", all digital and encoded (no chance to interfere with series of similar devices in a range).
- One 3.7V Lipo battery operated, automatic charging&protecting circuit included.
- 100 pre-settable working channels, 433.4-473.0 MHz range
- Piezo buzzer & LED alert (when receives "alert" signal from the "receiver")
- LED indicators for "up" and "down" and power ON.
At the "receiver" unit (it is actually the TX and RX in hald duplex mode) side:
- 4 major outputs, 12V from tractor battery, reversible on button press, or "empty" (no voltage) "on/off" switches.
- 8 relays, 250v/10A load.
- operated directly from 12v tractor battery (or any other 9-15v DC source)
- 3-axis gyroscope for monitoring the x,y and z axis and eventual tilting (in particular case i am monitoring the y axis) and
take an action ("alert") if angle pass the preset values.
- when "alert" occurs;
a) it stops any action, retrieve the initial state of the relays (programmable to any sequence...
example: returns the winch motor for several steps)
b) flashes the "alert" led
c) sends back the "alert" signal to the "transmitter" unit.
...
So this works nice.
But only if "receiver" enclosure is put on steady place.
By random coincident i knocked it and it starts to behave like in "alert" conditions.
Problem!
Receiver will not be used on a steady place, it will be mounted on constantly vibrating and moving tractor.
Big problem!
What i need is immunity on small vibrations and knocks and to maintain steady tilt monitoring.
In shorter; i need filtering.
So i walked through lot of articles on this subject.
At the end i have two choices: Kalman filter and much simpler Complementary Filter.
At this stage i decided to check the second one; the Complementary Filter.
So i made a test today. Results are more than obvious!
I am getting pretty good immunity on gentle knocks and constant vibrations.
Only if i knock it hard several times; it makes mistake and shots up the "alert".
This is very visible and significant progress from the previous situation.
Is it good enough?
Will see.
This thing need to be tested mounted on real tractor, while running.
If this is not good enough; next to try would be the Kalman filter.
Last summer i designed custom remote control, aimed to control tractor winch and few additioanl actions at tractor itself.
So i made first model and sold it to customer. It still works quite alright. I am getting pretty much positive feedbacks.
Customer asked for only 100m range at most. I got 1000m and more range though!
Anyway, i wanted to go step forward so i added a gyroscope in my second design.
To monitor and control the tilting and slope at tractor during the pull of logs (5 tons maximum).
At the "transmitter" unit (it is actually the TX and RX in half duplex mode) side:
- 4 double buttons, 3 positions; "middle" (neutral, no operation), "up" (forward) and "down" (backward).
- 8 "commands", all digital and encoded (no chance to interfere with series of similar devices in a range).
- One 3.7V Lipo battery operated, automatic charging&protecting circuit included.
- 100 pre-settable working channels, 433.4-473.0 MHz range
- Piezo buzzer & LED alert (when receives "alert" signal from the "receiver")
- LED indicators for "up" and "down" and power ON.
At the "receiver" unit (it is actually the TX and RX in hald duplex mode) side:
- 4 major outputs, 12V from tractor battery, reversible on button press, or "empty" (no voltage) "on/off" switches.
- 8 relays, 250v/10A load.
- operated directly from 12v tractor battery (or any other 9-15v DC source)
- 3-axis gyroscope for monitoring the x,y and z axis and eventual tilting (in particular case i am monitoring the y axis) and
take an action ("alert") if angle pass the preset values.
- when "alert" occurs;
a) it stops any action, retrieve the initial state of the relays (programmable to any sequence...
example: returns the winch motor for several steps)
b) flashes the "alert" led
c) sends back the "alert" signal to the "transmitter" unit.
...
So this works nice.
But only if "receiver" enclosure is put on steady place.
By random coincident i knocked it and it starts to behave like in "alert" conditions.
Problem!
Receiver will not be used on a steady place, it will be mounted on constantly vibrating and moving tractor.
Big problem!
What i need is immunity on small vibrations and knocks and to maintain steady tilt monitoring.
In shorter; i need filtering.
So i walked through lot of articles on this subject.
At the end i have two choices: Kalman filter and much simpler Complementary Filter.
At this stage i decided to check the second one; the Complementary Filter.
So i made a test today. Results are more than obvious!
I am getting pretty good immunity on gentle knocks and constant vibrations.
Only if i knock it hard several times; it makes mistake and shots up the "alert".
This is very visible and significant progress from the previous situation.
Is it good enough?
Will see.
This thing need to be tested mounted on real tractor, while running.
If this is not good enough; next to try would be the Kalman filter.
Code:
Without any filter:
x= RAD_TO_DEG * (atan2(-yAng, -zAng)+PI);
y= RAD_TO_DEG * (atan2(-xAng, -zAng)+PI);
z= RAD_TO_DEG * (atan2(-yAng, -xAng)+PI);
With filter:
x= RAD_TO_DEG * (atan2(-yAng, -zAng)+PI);
CFilterX = ((CFilterX * 0.98) + (x * 0.02));
y= RAD_TO_DEG * (atan2(-xAng, -zAng)+PI);
CFilterY = ((CFilterY * 0.98) + (y * 0.02));
z= RAD_TO_DEG * (atan2(-yAng, -xAng)+PI);
CFilterZ = ((CFilterZ * 0.98) + (z * 0.02));
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