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

[Gautier Hattenberger]

baro_qfe is the reference pressure, so it only moves when the ins is 
reseted.
You should have the baro pressure in BARO_RAW message if you change 
telemetry mode to raw_sensors. You can also add <define 
name="DEBUG_VFF_EXTENDED"/> to enable VFF_EXTENDED message. 'measure1' 
is the sonar and 'measure2' is the baro.

Indeed we have to find the best way to reject false sonar values. The 
standard ardrone API can tell in the status bitmask if the sonar is deaf 
or not, so we should be able to do the same. Maybe TUDelft guys have 
some idea ?

Gautier

Le 27/03/2014 19:47, Ben Laurie a écrit :
> On 27 March 2014 16:10, Gautier Hattenberger
> <address@hidden> wrote:
> > Hi,
> >
> > I only flew the ardrone two times in autonomous mode (last week), so I can't
> > really pretend that I recommend my settings, but if you want to compare with
> > the default setttings, I'm attaching my airframe file. The link below shows
> > the result of the demo flight I made with it.
> >
> > https://www.youtube.com/watch?v=X2SUFWoKBKw
> It looks to me like the sonar goes negative when it gets no reading -
> wouldn't it make sense to have the sonar code ignore values below
> zero?
>
> Also, you mention the baro is really noisy - which curve is that? The
> only one I could find (INS_REF:baro_qfe) is completely flat.
>
> > Gautier
> >
> >
> > 2014-03-27 6:24 GMT+01:00 Stephen L Hulme <address@hidden>:
> >
> > > Hi Gautier
> > >
> > > You may have noticed I posted a similar Ardrone2 issue:
> > > http://lists.gnu.org/archive/html/paparazzi-devel/2014-03/msg00209.html
> > >
> > > I was using the latest master repo Sonar defines:
> > >
> > > <section name="INS" prefix="INS_">
> > >    <define name="SONAR_SENS" value="0.00034"/>
> > >    <define name="SONAR_MAX_RANGE" value="2.2"/>
> > >    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
> > >    <define name="SONAR_VARIANCE_THRESHOLD" VALUE="2.0"/>
> > > </section>
> > >
> > > Can you post a recommended section setup for the SONAR sensor?
> > >
> > > Also it would be helpful to know about the AGL related define if one flies
> > > in an area where the SRTM elevation data reflects a large variance with GPS
> > > derived HMSL and hence is not functional and not used.
> > >
> > > Unfortunately I am currently away from home and cannot recheck my log
> > > data.
> > >
> > > Regards
> > >
> > > Stephen
> > >
> > >
> > >
> > > On March 27, 2014 12:13 PM,Gautier Hattenberger wrote:
> > >
> > > 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 :-)
> > > > >
> > > > > _______________________________________________
> > > > > Paparazzi-devel mailing list
> > > > > address@hidden
> > > > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > > > >
> > > > >
> > > > > _______________________________________________
> > > > > Paparazzi-devel mailing list
> > > > > address@hidden
> > > > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > > > >
> > > > >
> > > > >
> > > > > _______________________________________________
> > > > > Paparazzi-devel mailing list
> > > > > address@hidden
> > > > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > > > >
> > > > >
> > > > >
> > > > > _______________________________________________
> > > > > Paparazzi-devel mailing list
> > > > > address@hidden
> > > > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > > > _______________________________________________
> > > > Paparazzi-devel mailing list
> > > > address@hidden
> > > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > >
> > >
> > > _______________________________________________
> > > Paparazzi-devel mailing list
> > > address@hidden
> > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > >
> > >
> > > _______________________________________________
> > > Paparazzi-devel mailing list
> > > address@hidden
> > > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel