Re: [Paparazzi-devel] Quad Tuning?

[Ben Laurie]

On 16 January 2015 at 15:19, Felix Ruess <address@hidden> wrote:
> Um, the rotorcraft_basic.xml flight plan in the repo is correct in that
> regard:
> https://github.com/paparazzi/paparazzi/blob/v5.4/conf/flight_plans/rotorcraft_basic.xml

Hmm. I am away from home and don't have access to mine, I'll check it
when I get home...

>
> On Fri, Jan 16, 2015 at 4:15 PM, Ben Laurie <address@hidden> wrote:
>>
>> On 16 January 2015 at 00:40, Ori Pessach <address@hidden> wrote:
>> > Ben,
>> >
>> > I think I just figured out why my drone was doing what you described
>> > here
>> > while taking off in NAV: I was using the rotorcraft_basic.xml flightplan
>> > as
>> > a basis for my flightplan, and here's what the  Takeoff block looked
>> > like:
>> >
>> > <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
>> >   <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"
>> > />
>> >   <call fun="NavSetWaypointHere(WP_CLIMB)" />
>> >   <stay climb="1.0" vmode="climb" wp="p1" />
>> > </block>
>> >
>> > As far as I understand, this moves the CLIMB waypoint to the drone's
>> > current
>> > location, and then attempts to climb to waypoint P1 at a rate of 1m/s
>> > until
>> > the drone reaches an altitude of 2 meters, at which point control
>> > switches
>> > to the Standby block.
>> >
>> > The problem for me was that P1 was not near the drone's starting point,
>> > and
>> > the drone was trying to make a sharp turning maneuver while still on the
>> > ground, causing all sorts of ground encounter issues.
>> >
>> > Changing the stay element to:
>> >
>> > <stay climb="1.0" vmode="climb" wp="CLIMB" />
>> >
>> > fixed the issue I was having with takeoff, and allowed the drone to
>> > finally
>> > takeoff cleanly, climb to its target altitude and move to the Standby
>> > block.
>> > I also changed the standby block so that it stays at the CLIMB waypoint,
>> > instead of P1.
>>
>> Haha ... that is awesome! Wish I'd noticed it, would've saved me a lot
>> of head-scratching. You should submit a pull request. Or I will if you
>> don't.
>>
>> > This was the first time I was able to fly the drone completely
>> > autonomously
>> > with Paparazzi. Once the drone was off the ground, it seemed to navigate
>> > between waypoints and land perfectly fine. I have to say that flying is
>> > a
>> > lot more satisfying than crashing...
>>
>> Sure is!
>>
>> > On Mon, Dec 29, 2014 at 8:28 PM, Ben Laurie <address@hidden> wrote:
>> >>
>> >> Is there a good tutorial for choosing all the different PID parameters
>> >> for a quad?
>> >>
>> >> Mine flies fine when flown manually, but is perhaps a little soft.
>> >>
>> >> It also has problems taking off in NAV: it tends to ramp up the motor
>> >> slowly and when its got enough lift to take off it instead flips over
>> >> (I presume because its trying to head off in some direction other than
>> >> straight up?).
>> >>
>> >> Takeoff in ATT is just fine.
>> >>
>> >> Could this be down to PID tuning?
>> >>
>> >> (I also wonder if I've managed to break the GPS antenna - error is
>> >> around
>> >> 6m).
>> >>
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>> >
>> >
>> >
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