frank320
lvl.4
Flight distance : 1440459 ft
United States
Offline
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Jon,
I am on the same page as you, but DJI will never disclose their internal proprietary flight control algorithms, sadly. To be fair, they shouldn't, since if they do, they know it will be stolen, copied and replicated by someone else.
What i have noticed is that the flight controllers have some sort of sensor spike buffering, moving-average type control algorithm built into the flight controllers to ensure that just because one of the many sensors just received a "bad" data point, the Inspire doesn't just shoot off in a random direction just to compensate for that one bad data point. Sort of like the Kalman Filter type signal processing algorithms that are used in flight control systems.
So, what this means is that, and i am guessing here, is if for example, you started your inspire on un-leveled ground and took-off, the IMU could be internally compensating the un-leveled ground take-off to now a leveled hovering aircraft held in position by GPS, using some sort of a filter or moving-average to correct for the bias. Now, after some small time in the air, the "moving-average" corrections slide out of the calculation window and the Inspire is now incorrectly correcting a perfectly leveled aircraft using the un-leveled take-off data, and the Inspire goes haywire.
Not saying this explains all flyaways, but this could explain some cases where the flight was ok for the first 5 mins, then the inspire flies away uncontrollably, out of sight, only to return home by itself to the surprise of the owner, if the control algorithms were able to correct itself before the battery runs out.
How do it know/guess that the Inspire makes decision by filtering/moving-average? Well, when i take off from uneven ground and the gimbal horizontal is tilted on inital hover, i find that the gimbal horizontal recovers itself to perfectly level after a couple of minutes, correcting itself a little by a little over time, instead of a sudden jolt back to level horizon. In other words, the Inspire's sensors and gimbal knows that it is not leveled, and it is "slowly" correcting it.
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