Re: [Paparazzi-devel] ROTORCRAFT strange behavior again

[Sergey Krukowski]

Hi Eduardo!

Well, I glanced a bit over your krooz_sd_quad_agr.xml airframe setup, and  
have some questions:
1. Since you are using adaptive throttle here, did you try a lower  
ADAPT_NOISE_FACTOR? From my experience, the lower values give more stable  
behavior. Currently I end up on ADAPT_NOISE_FACTOR = 0.7
2. Have you actually calibrated the accelerometer? It is really important.
3. Your magnetometer calibration looks a bit suspiciously. Here is one of  
my for the default KroozSD magnetometer range:

<define name="MAG_X_NEUTRAL" value="-212"/>
<define name="MAG_Y_NEUTRAL" value="44"/>
<define name="MAG_Z_NEUTRAL" value="-17"/>
<define name="MAG_X_SENS" value="2.82420831216" integer="16"/>
<define name="MAG_Y_SENS" value="2.80519777434" integer="16"/>
<define name="MAG_Z_SENS" value="2.92660277562" integer="16"/>

I would recommend to recalibrate it again, if you have any troubles with  
the heading.
4. According my experience, your REF_MAX_R and REF_MAX_RDOT values are way  
to large. This can cause an undesired behavior, like, for example, jumping  
up and down.

Best Regards,
Sergey

> No telemetry because i fly far away from my home.
>
>
> Date: Sun, 1 Sep 2013 18:45:57 -0600
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] ROTORCRAFT strange behavior again
>
>
>    I mean, do you at least have telemetry
>       data from the flight?
>
>
>       Yes, I do  - quadrotors and hexarotors.
>
>
>       On 09/01/2013 06:30 PM, Eduardo lavratti wrote:
>
>      Nops ..
>
>         i am flying outside and not have openlog on this rotorcraft.
>
>
>         Tomorrow i will install openlog.
>
>
>         Are you flying rotorcraft ?
>
>
>
>
>          Date: Sun, 1 Sep 2013 17:59:53 -0600
>
>           From: address@hidden
>
>           To: address@hidden
>
>           Subject: Re: [Paparazzi-devel] ROTORCRAFT strange behavior
>           again
>
>
>           Eduardo, do you have flight logs?
>
>
>
>             On Sun, Sep 1, 2013 at 1:52 PM,
>               Eduardo lavratti <address@hidden>
>               wrote:
>
>                  Hello friends, a new arm for my big
>                     quad come this weekend and i assembled the
>                     rotorcraft again.
>
>
>                     I using a new laptop with new PPZ installation.
>
>                     I am updated the ppz yesterday at night so i using
>                     the latest version (v5.1_devel-245-g4756de6-dirty)
>
>
>                     Well, the nav are working very well.
>
>                     The altitude need some tunnig (5~7 meter overshot
>                     when i do pith/roll comands using alt_z_hold)
>
>
>                     With latest version i think the command are much
>                     more responsive.
>
>                     I think this is because the "stabilization int_ref
>                     scaling"
>
>
>                     The new GUIDANCE_V_NOMINAL_HOVER_THROTTLE
>                       are working very well.
>
>                     Now when i engage the alt_hold the rotorcraft not
>                     drop altitude.
>
>
>                     For now the WOOBLE problem continue.
>
>
>                     After some minutes of perfect flight (hover_z_hold)
>                     i do 75% YAW command and the rotorcraft hold its
>                     position very well even with continuos YAW.
>
>
>                     THen i stop the YAW and after some second i change
>                     from hold_z to alt_z the fly some seconds  and the
>                     rotorcraft start to WOOBLE .
>
>
>                     This time the battery are @ 50%.
>
>                     The airframe file are all new, ppz are new
>                     installation but the wooble problem continue.
>
>
>                     This is the cause of my 2 last crashes using 2
>                     diferente rotorcraft and boards (lisa/krooz).
>
>
>                     I am not confident with PPZ because the problem are
>                     very dangerous.
>
>
>                     Anyone flying ppz rotorcraft here and confirm that
>                     not have this problem ?
>
>
>                     BTW, i am experienced helicopter  3D pilot ... so
>                     this is not a pilot issue.
>
>                     Some time the wooble start even in HOVER_Z_HOLD.
>
>
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