Re: [Paparazzi-devel] ROTORCRAFT strange behavior again

Well, here are the logs
The problem occur after 2000sec.

Look sum_err_psi.
It start increase and not stop anymore

I am using psi i term = 0

After this fly i do another using psi i_term = 1000 and the problem not occurs and the sum_err_psi not increase more than 200.
tomorrow i will do more flights to test this problem.

From: address@hidden
To: address@hidden
Date: Tue, 3 Sep 2013 14:18:07 +0200
Subject: Re: [Paparazzi-devel] ROTORCRAFT strange behavior again

FYI I had a similar behaviour until I realised that my gyro was working in the wrong direction.

When I rotated the copter and stopped the rotation, the telemetry would continue turning for a while and slowly come back to the right value.

Cedric

De : address@hidden [mailto:address@hidden De la part de Michal Podhradsky
Envoyé : mardi 3 septembre 2013 04:15
À : address@hidden
Objet : Re: [Paparazzi-devel] ROTORCRAFT strange behavior again

Try higher D gain for yaw (respective 'r').
M

On 09/02/2013 07:20 PM, Eduardo lavratti wrote:

Hi Sergey,

i will try lower the ADAPT_NOISE_FACTOR but the altitude hold are working fine.
About the magnetometer, the values are right.
In my country the magnetometer ever get low values.

Some time ago the mikrokopter changed the magnetometer to hmc5883 and have some issues because this low values.

About REF_MAX_R and R_DOT i lowered the values according to Felix.
i get the values from krooz_sd airframe example.
The problem with low values is that the quad react to low.
For example, some time i do some YAW command and when i release the stick the quad continue turning .
Some time i turn more than 45deg.

Today when i fly with low values i do a very fast turn and when i release the stick the copter turn more than 120deg and i get a bit confused because i flying near the trees and i hit one.
The result: 2 carbon fiber props broken.

I ever use YAW commands at high rate in my flights.
What parameter do you suggest to speed up the yaw reaction ?

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From:	Eduardo lavratti
Subject:	Re: [Paparazzi-devel] ROTORCRAFT strange behavior again
Date:	Sat, 14 Sep 2013 20:43:42 -0300