|Subject:||Re: [Paparazzi-devel] Motor mixing saturation - max offset unbounded|
|Date:||Sun, 21 Apr 2013 17:36:48 -0300|
Wow ... nice feature.
I will try tomorrow but i think this not work fine in my lest big quad because the magnetic disturbance is very high.
I put magnetometer 10cm away the wires and the psi continue hold.
With motors of the psi work fine.
Date: Sun, 21 Apr 2013 22:01:08 +0200
Subject: Re: [Paparazzi-devel] Motor mixing saturation - max offset unbounded
have a look at http://paparazzi.enac.fr/wiki/ImuCalibration#Calibrating_for_Current for (partially) compensating for mag offset due to motor current.
In your case the MAX_SATURATION_OFFSET unfortunately doesn't work. You are probably getting a motor_mixing saturation failure (see motor_mixing.nb_failure counter), which means that your roll/pitch/yaw commands are such that they can't be achieved by lowering/raising the thrust.
It works as long as you only reach the lower OR upper saturation limit, but not both at the same time (most often due to high yaw command)
As pointed out in issue 385, this case is still not handled....
A quick improvement could be to only apply lowering of the thrust in case of hitting both limits...
On Fri, Apr 19, 2013 at 11:03 PM, Michal Podhradsky <address@hidden> wrote:
_______________________________________________ Paparazzi-devel mailing list address@hidden https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
|[Prev in Thread]||Current Thread||[Next in Thread]|