[Paparazzi-devel] Autopilot crashing mid-flight

[paparazzi_guy]

Hello everybody,

The weirdest thing happened today during our test flight. The plane was
flying perfectly in manual, fly by wire, and full auto. We wanted to
increase the throttle during the rolls since it was always losing speed when
turning. So we changed the gain AILERON_OF_THROTTLE from 0 to about 500. I
thought this was a pretty reasonable amount since it gave me a range of 0 to
5000 with this value. However, once we committed this change the plane
started spiralling and dove straight towards the ground. The pilot switched
back to manual but had to land the plane because it had taken some damage. I
took a picture of some of the logs and will provide the logs themselves in
this message as well. The time that I committed the change was around 2125s
and I reverted the change around the same time the pilot switched to manual
at 2200s. It appears that the IMU and some other sensors died during this
time for some reason, which is probably why it was starting to crash.

Do you guys know why the plane would want to do this based on what happened
and from these logs? Any input would be very helpful. We're going to try and
repair the plane, but we leave for competition tomorrow. Luckily we have a
backup, but it's not as nice.

I will also include our airframe configuration if it would help.

Thanks,
Matthew

14_04_27__18_09_14.log
<http://lists.paparazziuav.org/file/n15211/14_04_27__18_09_14.log>  
14_04_27__18_09_14.data
<http://lists.paparazziuav.org/file/n15211/14_04_27__18_09_14.data>  
Snitch2.xml <http://lists.paparazziuav.org/file/n15211/Snitch2.xml>  
Death_of_the_autopilot.png
<http://lists.paparazziuav.org/file/n15211/Death_of_the_autopilot.png>  



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