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Re: [Paparazzi-devel] Problem with QUAT heading in AHRS subsystem


From: Felix Ruess
Subject: Re: [Paparazzi-devel] Problem with QUAT heading in AHRS subsystem
Date: Wed, 11 Jul 2012 13:47:26 +0200

Hi Sergey,

which version are you using?
http://paparazzi.enac.fr/wiki/FAQ#How_do_I_check_which_Paparazzi_Version_I.27m_using

What IMU are you using? Maybe easiest to put your airframe on pastebin and post a link...

I’ve just solved this problem in a following way: I increased the mag rate correction coefficient from 2.5 to 50. Seems to have quicker response.


The magnetometer should only be needed to compensate for drift in the attitude integrated from the gyros, so if your response is slow or you need a higher correction coefficient, it probably means that your gyro calibration (GYRO_x_SENS) is not good.
Did you check this?
You can also disable the mag via <configure name="USE_MAGNETOMETER" value="0"/>, use the real-time plotter to plot roll,pitch and yaw. Then yaw the quad in 90deg steps or so and you should see that nicely in the plotter... if you get less than that it indicates that your gyro sens is too low.

But there is next problem – the 2d mag calculation works not really perfect while banking. The rotorcraft has now less stability while braking in flight. But anyway it’s better now.


Can you elaborate? What does not work correctly? Does your heading change if you only roll or pitch ? Then your mag calibration is not correct. See  http://paparazzi.enac.fr/wiki/ImuCalibration#Calibrating_the_Magnetometer

Cheers, Felix

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