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Re: [Paparazzi-devel] crashed

From: John Burt
Subject: Re: [Paparazzi-devel] crashed
Date: Sun, 09 Aug 2009 10:39:35 -0700
User-agent: Thunderbird (Windows/20090605)


I crashed an Easystar just like that during early flight testing. The AP (Tiny 2.11) went nonresponsive and dived into the ground, despite my having immediately flipped the switch to manual. It would seem that the AP processor just locked up - truly a worst case scenario. The cause of the behavior was an undervoltage spike condition due to sourcing the four servos and RC RX off the 5V supply. In case you haven't already, you should always power your hardware off a separate BEC (which begs the question of why the AP has a 5V source anyway).

AP generated noise on the ground wire was other cause of bad AP behavior that I experienced. This causes glitching and reduced RC range. It has been covered ad nauseam in other posts, but I'll repeat it: it's especially helpful to put an RF choke on the RC RX cable. Try to wrap the wire 4+ times around the choke.

Martin P wrote:
Hello everyone! Last weekend I had a good AUTO1 flight with my Minimag. It reacted to pitch and roll commands, and I was able to control the throttle. I had an attitude command in my flightplan which was never left (as I know now). Yesterday I tried again, without the attitude statement and without a holding point block. In AUTO1, it killed the throttle. Switched to manual and landed to change battery because it was not fully charged. Took off again. Switched to AUTO1 and it immediately stabilized the plane. Strangely, this time it did not react to the roll command. I flew around using the rudder. When I used the elevator stick, the autopilot controlled the throttle. Good, so far. Suddenly the plane dived down vertically from an altitude of roughly 40m. No reaction, just kept going vertical and slowly spinning around the longitudinal axis until it crashed. There was not as much damage done as I expected. These foamies are awesome. All RC components including Tiny and Xbee are OK. Except for the Lipo which is badly bent out of shape and will be replaced for safety reasons. Unfortunately I can't see much from the log as I had lost the link probably minutes before. I was in stage "HOME" because I had left the fly-too-far circle before and came back manually. The switch was on manual so I probably tried to rescue. The Tiny was unplugged which can have happened at the crash or before. One aileron was ripped off and the horizontal IR was missing (I found it in the grass). So far, my report. The Minimag is already repaired and I'll keep trying. Greetz, Martin

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