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RE: [Paparazzi-devel] Roll PGain Help, servos always twitching


From: Edixon Giraldo
Subject: RE: [Paparazzi-devel] Roll PGain Help, servos always twitching
Date: Wed, 18 Aug 2010 08:46:09 -0500

I will take on the air today.  Wish me luck!  Yes indeed, I am having a hard time grasping the concept.  I am very new with this system since I have only been working on it for a month.  I have learned a lot though, but, I know there is still a lot to be learned.  The good thing is that everytime I ask a question here, I get guided to the right place to look and that makes me figure out things on my own too.  Last night I spent hours playing with the different values and commands in the airframe.xml files and clarified a lot of things.  That is how I run into the twitching servos and just wondered if that is what it causes the oscillations in mid air.  The twitch apparently is always there no matter how low the gain is, but, like you mentioned I will check that in the air.
 
Thanks.
 
Eddie.
 
> Date: Wed, 18 Aug 2010 08:24:03 +0300
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Roll PGain Help, servos always twitching
>
> Eddie,
>
> You aren't fully understanding the difference between manual and auto1.
> Manual you are commanding servo positions. But in Auto1 you are
> commanding roll/pitch angles. So if you tell the autopilot to try to
> reach 25 degree roll, and nothing changes, the control laws will
> probably cause the control surface to twitch trying to get more
> authority, but trying to not overshoot. This all comes back to what
> everybody has said, auto1 should be tuned in the air, at a comfortable
> safety altitude so that you can recover should something go wrong. And
> on that note, it would probably be best to have a flight buddy to help
> do tuning. One to fly, and one to monitor GCS.
>
> Buzz
>
> On 08/18/2010 07:17 AM, Edixon Giraldo wrote:
> > Hi, I am working on adjusting the roll gain for my aircraft. I have not flown it yet, but, on the ground I did an rc control test in Auto1 to check surfaces for correct movement and travel. I have noticed that when inputting roll commands from the radio the servos always twitch. I imagine this is what causes the oscillations in mid air. I then reduced the gain several times until I got to 1000 and the servos still were twitching, but, there was very little travel of the ailevons. What variable am I supposed to adjust at this point?
> >
> > Thanks.
> >
> > Eddie.
> >
> > Sent from my iPhone
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
>
>
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