[Canberrauav] results from today Andrew Tridgell tridge at samba.org Sun May 11 19:01:00 EST 2014 Hi All, Steve, Jack and I flew the bushmaster at CMAC today. The main aims were to tune with the digital airspeed sensor and get the ground steering tuned for auto-takeoff. Fitting the airspeed sensor went well, although we noticed a considerable amount of sensor noise with the engine running, looking very similar to what we initially saw on the Porter. I went home to fetch some ferrite clamps, which is what helped with the Porter, and after that the airspeed was much cleaner, and performed well. I think it would be worth incorporating one or more of the clamps into the I2C cable in the wing. We enabled airspeed autocal and did an auto mission. The airspeed ratio settled in at about 2.1, which indicates a good install. Landings in FBWA were very smooth, and overall the plane flew very nicely. The ground steering tuning also went well, with it getting quite close after a couple of tries. We then did a full auto takeoff which went fine with only a small amount of heading drift (not enough to be a problem). Jack and I then did a bit more flying, with only one scary moment when the EKF AHRS system diverged badly so the plane lost its attitude estimate. We switched to manual, then I disabled the EKF and we continued the flight. I have since analysed the flight log with Paul Riseborough and determined that the issue is one which Paul had already addressed in some pending patches. I have now pushed those patches to master. The only other issue today was losing a nut off the hinge bolt for the rear part of the fuselage (Jack replaced it), and a noticible vibration noise coming from one wing. Overall a very good day with 34 minutes of flight for the Bushmaster. We hope to have the larger fuel tanks installed for next weekend to start to get our hours up. Cheers, Tridge
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