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Re: [Paparazzi-devel] alt_hold - lisa_m + bmp085

From: Martin Mueller
Subject: Re: [Paparazzi-devel] alt_hold - lisa_m + bmp085
Date: Tue, 19 Mar 2013 08:42:15 +0100
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130308 Thunderbird/17.0.4

Hi Eduardo,

after some months of hard work with paparazzi i can tell that my
rotorcraft is flying 100% stable end navigation is almost perfect.

Yesterday i do lots of test using bmp085 and the altitude hold work with
much variation.

for a test i installed a SONAR (matixbot) today and the altitude hold
work very well but only after i disable barometer because INS add some
kind of baro diff to SONAR.

After i configured GUIDANCE_V to get a good alt_hold using SONAR e
enabled the BARO again.

The result is the same as a started the tests... the altitude hold with
bmp085 has much variation.

Has any set to filter barometer ?
the aspirin 2 with ms5611 has a better alt_hold than bmp085 ?

I ask about bmp because i tested the last ardupilot model with ms5611
baro and altitude hold work much better than the old version with bmp085.

there are a simple static tests with recent barometric pressure sensors:


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