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Hi Gautier,
A wrong heading estimate would explain it. But during a bench test
right now the pointer on the GCS (and the value of int32 psi)
agree with the heading of my phone's magnetometer.
In the next few days I will test if the psi value changes when I
ramp up the throttle. I did a current calibration. But maybe not
correctly.
I will keep you posted.
Simon
Am 17.07.2015 um 19:13 schrieb Gautier Hattenberger:
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 :
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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