Re: [Paparazzi-devel] Change in altitude handling?

[Gautier Hattenberger]

Hi,

I think I found the problem. It is not related to the waypoints or the 
command, but rather from the estimation and the sonar sensor.
From the few flights I have done with the ARDrone, it seems that when 
the sonar is out of range or can't get a "correct" range, it returns 0. 
You can see it clearly in the log (INS_SONAR message). As you have only 
set the SONAR_MAX_RANGE, the estimator only discard to high values, but 
it takes all the 0 even when in flight. The result is that the estimator 
always see you close to the ground (below the tracked altitude) and the 
aircraft keep trying to climb.
Here are my suggestions:
- set INS_SONAR_MIN_RANGE to a small value above 0 (I have set it to 0.01)
- the threshold on sonar variance is probably useless since the baro is 
really noisy (it is actually looking at the variance of the difference 
between sonar and baro to see if the "change" in the direction)
- you can remove INS_SONAR_SENS, it is set outside of INS now (in 
boards/ardrone/navdata.c)

I hope it will help you to solve your problem.

Gautier

Le 26/03/2014 22:53, Ben Laurie a écrit :
> Data file is rather large, due to me taking quite a while to find the
> copter after the crash... I'll send it offlist.
>
> On 26 March 2014 20:59, Gautier Hattenberger
> <address@hidden> wrote:
> > yes, .data file is needed to replay the flight, maybe we'll see if the
> > waypoints have been incorrectly moved when doing geo init.
> >
> > Gautier
> >
> > Le 26/03/2014 21:21, Ben Laurie a écrit :
> >
> > On 26 March 2014 14:50, Gautier Hattenberger
> > <address@hidden> wrote:
> >
> > Hi,
> >
> > There are some recent changes in ins_reset functions, but I made a
> > successful flight last week with an ARdrone.
> > What is your flight plan ?
> >
> > Flight plan is the standard rotorcraft_basic plan.
> >
> > current and last working version ?
> >
> > Current version is ad7994c7efc81b725823efff44e9ee9b83fe76bc, previous
> > working version was last year some time before xmas (can probably work
> > out exact version if needed). Been rather busy this year, was my first
> > chance to fly!
> >
> > maybe your
> > flight log would help.
> >
> > log attached - do you need the .data file, too?
> >
> > Gautier
> >
> > Le 26/03/2014 15:17, Ben Laurie a écrit :
> >
> > Nearly lost my ardrone today ... latest master (plus my local stuff,
> > which is mostly just calibration) from 3 days ago. Took off, was fine.
> > Changed to "stay_p1" and it immediately started climbing, fast.
> > Switched to "land" before it went completely out of sight, which
> > luckily it did kinda do, though it ended up more-or-less out of
> > control and quite some way away where it hit trees. Possibly because
> > it thought it was landed well above ground level? Dunno.
> >
> > Anyway, it looks like the waypoints are set to 200m above ground level
> > (207.78, to be precise) ... which is not what they used to do when GPS
> > lock is achieved and they all relocate.
> >
> > Did something change?
> >
> > BTW, I should have video, might be quite amusing :-)
> >
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