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From: | Christophe De Wagter |
Subject: | Re: [Paparazzi-devel] Problem with QUAT heading in AHRS subsystem |
Date: | Tue, 10 Jul 2012 10:09:08 +0200 |
Hallo!
I use the Booz hardware with int_cmpl_quat as AHRS subsystem.
I’ve calibrated mag on the imu, so with the euler AHRS my rotorcraft is perfect stable.
For the quat AHRS I filled up AHRS_H_X, AHRS_H_Y, AHRS_H_Z from the NOAA site and use the same calibration data as for euler.
But I found out following problem: the heading angle is unstable. When I rotate the rotorcraft too fast, the yaw (psi) angle follows too slow the body and the rotorcraft becomes unstable (in HOVER_Z_HOLD mode).
What could I do wrong here?
Thanks!
Sergey
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