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Re: [Paparazzi-devel] Mode rate???

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Mode rate???
Date: Thu, 8 Sep 2011 15:31:15 +0200

Dear Eric,

On our quadrotors the rate-mode from paparazzi feels a bit like an attitude mode that is not trimmed. In any case when trying the rate mode I expected something different. I was used to fly gyro-only feedback quads without reference model but direct stick feed-forward that fly like a non-stabilized helicopter, but in paparazzi I did not succeed to get the same behaviour with the rate mode. Attitude works perfectly so I presume almost no-one still uses the rate loop!?

Here are the loops: (ref) and control:

Please note that there are different gains for the RATE and ATTITUDE loops. Especially with an integrator set and the smoothness of the reference generator the rate loop feels more like a non-trimmed attitude mode than raw rate.


On Thu, Sep 1, 2011 at 10:19 PM, Eric BAHIER <address@hidden> wrote:

I have juste finish an new quad, with booz and mkk ....

In rate mode "the almost manual mode" I have no action on any motor, exept with the power stick, no roll, no pitch, no yaw....

In attitude mode, it fly almost correctly,

Where is my mistake?

Best regards,


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