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

[Ewoud Smeur]

Hi Simon,

Maybe your magnetometer picks up the magnetic field induced by the current through the wires. You can calibrate for that:
http://wiki.paparazziuav.org/wiki/ImuCalibration
See the section 'Calibrating for current'

Ewoud

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Date: Thu, 23 Jul 2015 15:54:22 +0200
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Copter isn't holding its position in hover (H_ZH) mode - with video!

Hi Felix,

I did another test earlier today. This time with more extensive logging and again with video. The psi value seems to be off to the left (ccw) during flight (not on the ground, though). But I am still evaluating the data and comparing it with the video. Another post on Youtube is to come once I am done synchronizing the screen cast of the replay with the on-board recording from the GoPro.

Sim

Am 23.07.2015 um 15:09 schrieb Felix Ruess:

Hi Simon,

any updates here?

Did you also test if the heading (psi value) stays the same/correct if you start rolling/pitching the quad?

Cheers, Felix

On Fri, Jul 17, 2015 at 9:41 PM, Simon Liebold <address@hidden> wrote:

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 :

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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