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Blending real video with synthetic data yields a powerful and cool! way to visualize your kalman filter (attitude estimate) as well as your autopilot flight controller.

Conformal HUD Elements

Conformal definition: of, relating to, or noting a map or transformation in which angles and scale are preserved.  For a HUD, this means the synthetic element is drawn in a way that visually aligns with the real world.  For example: the horizon line is conformal if it aligns with the real horizon line in the video.

Nonconformal HUD Elements

Autopilot HUD Elements

Case Study #1: EKF Visualization

(Note this video was produced earlier in the development process and doesn’t contain all the HUD elements described above.)

What to watch for:

I may never have noticed the EKF tuning problems had it not been for this visualization tool.

Case Study #2: Spin Testing

What to watch for:

Case Study #3: Skywalker Autopilot

What to watch for:

Case Study #4: Results of Tuning

What to watch for:

Howto?

These flight visualization videos are created with an automated process using open source tools and scripts. I have started a post on how to create these videos yourself.

2016-11-30 15:16:04 -0600 - Written by curt