Re: [Paparazzi-devel] lisa/m v2 quadrotor / current minor issues

[Felix Ruess]

Hi Oswald,

1. Which AHRS algorithm? You need to keep the quad still upon powerup during the AHRS alignment (gyro neutral calibration). The ahrs aligner led blinks while aligning, then stays on when done.

2. Yes, you need to calibrate the mag if you haven't already done that.

3. The LISA_M_BARO configuration is not for the radio_control subsystem, add it under the ap target directly:

    <target name="ap" board="lisa_m_2.0">

      <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
      <subsystem name="radio_control" type="spektrum">
        <define name="RADIO_MODE" value="RADIO_AUX1"/>
      </subsystem>
    </target>

Then check if you get BARO_RAW measurements when switching to sensors raw telemetry mode.

Cheers, Felix

On Tue, Jun 10, 2014 at 12:02 PM, Oswald Berthold <address@hidden> wrote:

dear all,

after unweaving several independent but (as usual) coincident issues i
was doing my first flight above 1m ground altitude yesterday.

turns out my IMU outages weren't related to the power supply but to
configuring aspirin v2.1 instead of 2.2. well i hope, that is indeed the
case but IMU seems to come up reliably now.

now cooking:
 1. attitude estimation still seems to go wrong occasionally after
   powering up, resulting in a slight offset of pitch/roll angles
   (i.e. aircraft flat on the ground but still significant angles in
   estimate). is there anything about not moving the aircraft after
   plugging the battery?
 2. my controller is still suboptimal, in particular YAW seems to go
   through an oscillatory left-right sweeping motion. need mag calib for
   outdoor situation?
 3. i don't seem to get altitude measurements / baro. AGL field in the
   GCS always reads 0 for alt and rate. i added the baro line below,
   gleaned from quadshot config, to airframe conf but with no effect

    <target name="ap" board="lisa_m_2.0">
      <subsystem name="radio_control" type="spektrum">
        <define name="RADIO_MODE" value="RADIO_AUX1"/>
        <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
      </subsystem>
    </target>

if anyone can share a hint on any of 1-3, would be great (lisa/m v2,
asp. 2.2, current master), nothing urgent though.

bst, oswald

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