Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authori

[Felix Ruess]

Hi Michal,

this is very strange...

Whether you use the adaptive hover throttle or set a fixed NOMINAL_HOVER_THROTTLE makes no difference in the DIRECT vertical mode, it just takes the RC input and directly applies that to the thrust command: https://github.com/paparazzi/paparazzi/blob/v4.0/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c#L177

So that should be fine..

From the plot, it doesn't look like the thrust command from the RC was put to 100%, which is very weird. 

I guess you didn't log the RADIO_CONTROL or RC messages in that flight?

Did you take a look at rc_status, frame_rate, ap_in_flight and ap_motors_on in the ROTORCRAFT_STATUS message? (Just to make really sure these are ok)

Could you please post your full config and flight logs?

Cheers, Felix

On Fri, Nov 9, 2012 at 10:30 PM, Michal Podhradsky <address@hidden> wrote:

Hi Loïc,

I am attaching the logs:
1) AP mode and Vertical mode vs. thrust command (scaled to fit). It is not obvious for the first sight, but after going from Z_HOLD(8) to ATT(3) our RC pilot was pulling throttle even up to 100% trying to keep the plane in the air, but it is not reflected in the plot until the last moment - right before the landing (t=239s)

2)  Vertical loop - est_z, est_zd, est_zdd and AP mode. You can see the quad was climbing rapidly during Z_HOLD, and then started to descend after switching to ATT.

Regards
Michal

On Fri, Nov 9, 2012 at 1:06 AM, Loic Drumettaz <address@hidden> wrote:

Hi,

I never experienced such issue. I don't use adaptative estimator for thrust, but NOMINAL_THROTTLE instead (see Paparazzi vertical loops wiki page).  From my experience, it is sometime difficult to switch from RC_CLIMB mode to DIRECT mode for the pilot, because of the sudden change of throttle required to hover.

Maybe could you post your logs?

Regards

Loïc

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