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Re: [Paparazzi-devel] Copter isn't holding its position in hover (H_ZH)


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 écrit :
Hi Gautier,

I just uploaded it to here: http://sl.formfall.de/paparazzi/15_07_15__11_48_08.tar.gz

Simon

Am 16.07.2015 um 15:57 schrieb Gautier Hattenberger:
Hello,

Can you also post somewhere the full log files (.log and .data files) ? Your airframe seems at least correct.

Gautier


Le 16/07/2015 15:35, Simon Liebold a écrit :
Hi all,

I am trying to understand why my copter isn't holding its position when I switch into hover mode. It does update the x & y set points but it still goes and flies off (not just downwind but in a random direction). Yesterday I was able to catch it on camera.

https://youtu.be/4Cp9Vrx_9-4

Please disregard the crash at the end of the footage. My real question is: Why does the horizontal loop not work correctly - or even work at all? Maybe somebody can give me some insight.

http://pastebin.com/jQH5Akrh
$ ./paparazzi_version
v5.5_devel-1378-g0c8fd3e-dirty

Simon

p.s. The copter suffered some damage on one of the props, but nothing serious.


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