Re: [Paparazzi-devel] Quat_int integrator error

[YangQuan Chen]

Is AWBT mechanism built in?

-- iPhone 209-386-2958cm

YangQuan

--

YangQuan Chen, Ph.D., Director,

MESA (Mechatronics, Embedded Systems and Automation) LAB, 

School of Engineering, University of California, Merced,

5200 N Lake Road, Merced, CA 95343, USA

E: address@hidden; address@hidden

W: http://mechatronics.ucmerced.edu

T: 209-228-4672; F: 209-228-4047

Cell 209-386-2958; Lab: 209-228-4398

On Apr 19, 2013, at 11:58 AM, "Michal Podhradsky" <address@hidden> wrote:

Hi guys,

I am running a quadrotor with the default aiframe config file (quadrotor_lisa_m_2_pwm_spektrum.xml), master branch, stabilization = int_quat, ahrs=int_cmpl_quat, Lia 1.1 with Aspirin 2.2.

I did the test on a testbench, and the integrator doesn't seem to work properly. Instead of just saturating at the MAX_ERR limit, it jumps up and down even though the error between set point and actual attitude is constant.

Look at the logs, my guess is that the problem will most likely be on these lines:
https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c#L153

and
https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c#L154

What do you think?

M

<QUAT_INT_psi.png>

<QUAT_INT_theta.png>

<QUAT_INT_phi.png>

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