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From: | Stephen L Hulme |
Subject: | [Paparazzi-devel] Ardrone2 - unusal NAV mode flight experience |
Date: | Wed, 19 Mar 2014 18:50:41 +1300 |
Hi Guys, Following an acceptable No_RC flight experience back in late February (see attached log 14_02_26__16_13_31) using the following operational defines: <airframe NAME="ardrone2_raw"> <firmware NAME="rotorcraft"> <target NAME="ap" BOARD="ardrone2_raw"> <define NAME="USE_INS_NAV_INIT"/> <configure VALUE="200" NAME="AHRS_PROPAGATE_FREQUENCY"/> <define VALUE="200" NAME="AHRS_PROPAGATE_FREQUENCY"/> <define VALUE="200" NAME="INS_PROPAGATE_FREQUENCY"/> <define NAME="AUTOPILOT_DISABLE_AHRS_KILL"/> <subsystem TYPE="udp" NAME="telemetry"/> <subsystem TYPE="datalink" NAME="radio_control"/> I decided to undertake an RC/Gamepad flight test (see attached log 14_03_19__09_30_09) with updated defines: <airframe NAME="ardrone2_raw"> <firmware NAME="rotorcraft"> <target NAME="ap" BOARD="ardrone2_raw"> <define NAME="USE_SONAR"/> <define NAME="USE_BARO_MEDIAN_FILTER"/> <define NAME="NO_RC_THRUST_LIMIT"/> <define NAME="AUTOPILOT_DISABLE_AHRS_KILL"/> <subsystem TYPE="udp" NAME="telemetry"/> <subsystem TYPE="datalink" NAME="radio_control"/> </target>All other flight control factors remained unchanged.
Unfortunately and seemingly unreported within the altitude related data files the ardrone2 shot directly upwards from the the 'standby' block, until I lost my nerve and activated the 'land here' command. Eventually the aircraft rapidly descended to about 10 meters after which the motorsspooled up to allow a hard but no damage landing.
The only clue in respect of this unexpected altitude gain can be discerned in the GCS throttle indicator - it reaches 100% before my recovery attempt.Any answers or clues welcome.
Thereafter I reverted to a No_RC flight test (see attached log14_03_19__09_52_29) with these defines:
<airframe NAME="ardrone2_raw"> <firmware NAME="rotorcraft"> <target NAME="ap" BOARD="ardrone2_raw"> <define NAME="AUTOPILOT_DISABLE_AHRS_KILL"/> <subsystem TYPE="udp" NAME="telemetry"/> <subsystem TYPE="datalink" NAME="radio_control"/> </target> The outcome was similar to that experienced late last February despite it's truncated period - I was too nervous to test waypoint flight without seeking an explanation. Thank you for any advice in advance. RegardsStephen
14_02_26__16_13_31.log
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14_02_26__16_13_31.data
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14_03_19__09_30_09.log
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14_03_19__09_30_09.data
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14_03_19__09_52_29.log
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14_03_19__09_52_29.data
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Ardrone2 with wifi extender.jpg
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