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

[Ben Laurie]

On 29 March 2014 14:03, Gautier Hattenberger
<address@hidden> wrote:
> It looks like the data coming from the navboard of the ardrone contain a few
> more information about the raw sonar measurements. Perhaps this can be use
> to know if the distance measurement itself is valid or not. In the meantime,
> it seems that removing too high and too low values is sufficient.

Another couple of things:

a) The variance is computed even if the value is out of range. Seems wrong!

b) Since it uses the baro measurement in the sonar calculations, it
would be helpful if it also sent the baro to the downlink.

Also, if the sonar is in massive disagreement with the GPS, maybe it
would be a good idea to trust the GPS? :-)

> @Freek, did you ever looked at those values (debut_echo, fin_echo,
> nb_echo,...) ?
>
> Gautier
>
> Le 29/03/2014 11:42, Ben Laurie a écrit :
>
>> On 28 March 2014 10:33, Gautier Hattenberger
>> <address@hidden> wrote:
>>>
>>> The telemetry mode can be changed during flight in the settings tab, but
>>> the
>>> define has to be added to the airframe file indeed (in the firmware
>>> section
>>> for instance).
>>> The observation I made from your log are matching the observation I made
>>> during my own flight, so we definitely need to correctly reject outliers
>>> in
>>> the sonar measurements.
>>
>> I was looking at old logs, and they don't have sonar in them - I guess
>> this has been added relatively recently? Given how unreliable the data
>> is, not sure how useful it is.
>>
>> Also, how sure are we that if I apply the thresholds it'll behave itself?
>>
>>> Le 28/03/2014 11:07, Ben Laurie a écrit :
>>>>
>>>> On 27 March 2014 20:58, Gautier Hattenberger
>>>> <address@hidden> wrote:
>>>>>
>>>>> 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.
>>>>
>>>> You mean change it before flying, I presume? So this observation is
>>>> from your own ardrone2. not from my log?
>>>>
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