Re: [Paparazzi-devel] Quadcopter yaws with roll input

[Simon Wilks]

For others that may experience this problem in the future, there were two things that I needed to do to fix the problem:

- calibrate the magnetometer

- increase the value of PSI_PGAIN as it was way too low resulting in attempts to correct yaw way to sluggish.

Even with a calibrated magnetometer it was always drifting around until I fixed PSI_PGAIN.

Thanks for the help. It's flying pretty well now :)

Simon

On Tue, Mar 20, 2012 at 3:36 PM, Felix Ruess <address@hidden> wrote:

Hi Simon,

this probably happens, because you have not calibrated the magnetometer.
It is easy to check, if not calibrated properly you will see the psi
estimate moving when you tilt the quad.
If properly calibrated, the psi estimate should stay the same,
regardless of roll/pitch angle.

To best calibrate the mag, align every axis along the local magnetic
field, once in positive and once in negative direction while logging
the data. This way you get the real min/max.
You can also plot the values using the realtime plotter to see if you
have the correct angle and didn't miss the minimum/maximum.

Cheers, Felix

On Mon, Mar 19, 2012 at 11:45 AM, Simon Wilks <address@hidden> wrote:
> Hi,
>
> Bad weather has prevented me experimenting further so I am hoping someone
> can point me in the right direction in the meantime.
>
> I have just got a quadcopter flying in AP_MODE_ATTITUDE_DIRECT reasonable
> well and noticed that as I give it a roll command it will also yaw in the
> same direction it is rolling towards (i.e.: if I roll left will yaw left).
>
> I am using a Lisa/M with Aspirin V1.5. I have not calibrated the board while
> it is in the quad yet, so just using the calibration files sent with the
> Aspirin. I don't have any mixing set on the radio nor in the airframe
> config. Let me know if you want to see the config (I assuming it is just
> something trivial I have overlooked).
>
> Thanks
>
> Simon
>

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