[Paparazzi-devel] 回复： 回复： 转发： The issue about the moving direction of attitude estimation

[Tom H]

Hi,Felix!

Thank you for your concern.I tried the define:

<configure name="USE_MAGNETOMETER" value="FALSE"/>

And it failed.

But the problem gone since I update the code from v5.6 to v5.8.It seems that it is a bug about the attitude estimation of v5.6.

Thank you!

Yours!

Felix Ruess <address@hidden> 于 2015年12月29日, 星期二, 下午 9:13 写道：

Hi,

it should work fine with the defaults: fixedwing uses GPS course by default and disables the mag...

If you make double sure and disable the mag, use configure instead of define:

<configure name="USE_MAGNETOMETER" value="FALSE"/>

You can also check all the added flags in var/aircrafts/<aircraft_name>/ap_srcs.list

Hope that helps,
Felix

On Fri, Dec 25, 2015 at 5:26 PM, Tom H <address@hidden> wrote:

Hi,everybody!

      I have tried <define name="ASPIRIN_2_DISABLE_MAG value="TRUE"/>.But the heading still can't point to the right direction.If the float quaternion can't work with GPS course?Alternatively,If the algorithm must work with the magnetometer ? Or if the algorithm still has issuse about the "BODY_TO _IMU"?

since I rotate the lisa -90 degree from the airframe,I set the  "BODY_TO IMU"

like this:  

    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>

    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>

    <define name="BODY_TO_IMU_PSI"   value="270." unit="deg"/>

 Yours!

rijesh <address@hidden> 于 2015年12月17日, 星期四, 上午 2:09 写道：

Hi,

I've experienced a few issues with spinning due to an improperly calibrated
magnetometer.
You can try double checking the mag is disabled by turning off the gyro and
seeing if the magnetometer updates the direction. set AHRS_MAG_OMEGA to a
higher value.
http://wiki.paparazziuav.org/wiki/Subsystem/ahrs

As well if you have the latest release of paparazzi you can set this flag to
disable the onboard magnetometer.
<define name="ASPIRIN_2_DISABLE_MAG value="TRUE"/>

Cheers
Rijesh



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