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From: | Gautier Hattenberger |
Subject: | Re: [Paparazzi-devel] Copter isn't holding its position in hover (H_ZH) mode - with video! |
Date: | Fri, 17 Jul 2015 19:13:45 +0200 |
User-agent: | Mozilla/5.0 (X11; Linux x86_64; rv:31.0) Gecko/20100101 Thunderbird/31.7.0 |
Hi Simon, I looked at your log and video, and it seems that the problem is coming from the magnetometer resulting of a wrong estimated heading. According to your position error, the applied command on roll and pitch is correct (and matching the video) but it ends up going in the wrong direction, as if the frame is pointing west while the estimator says it is pointing east. Could you check on the GCS screen that your frame is pointing in the correct direction: turn the frame in your hand and check that it is matching on the map. Maybe you can try to recalibrate your mag if it seems to be the problem. http://wiki.paparazziuav.org/wiki/ImuCalibration#Calibrating_the_Magnetometer Gautier Le 16/07/2015 18:23, Simon Liebold a
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