Re: [Paparazzi-devel] HOVER with USE_SPEED_REF

[Waly Achod]

Hi Eduardo,

I tested this feature and I had the bug.

I fixed the bug by making the below modifications:

 - change the signe of psi angle

 - add psi normalization

Here is the code in airborne/firmwares/rotorcraft/guidance/guidance_h.c
     /* Rotate from body to NED frame by negative psi angle */
-    int32_t psi = -stateGetNedToBodyEulers_i()->psi;
+    int32_t psi = stateGetNedToBodyEulers_i()->psi;
+    INT32_ANGLE_NORMALIZE(psi);

You can test this modif added by Gauthier
https://github.com/paparazzi/paparazzi/commit/3830f136e0ad45f457b869da1956f79f76e6332f

Good Flight!!!

Waly

2014-04-29 21:35 GMT+02:00 Eduardo lavratti <address@hidden>:

Hello folks,

some days ago i finished my new quad using krooz_sd_BRE.

When in HOVER i test the stick to change the position

dynamically (USE_SPEED_REF) but i get wrong behavior.

When i put the stick to front, the copter not move to front.

I not have GCS in the field so i not know the psi angles when i do the testes.

For example,
if the yaw=0 and stick= front the copter go to front
if yaw=180 and and stick = front the copter go to left.

Anyone tested this feature ?

I am using ppz version v5.1.0_testing-0-gd07cb6f-dirty (new installation without any modification)

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