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Re: [Paparazzi-devel] ROTORCRAFT strange behavior again


From: Michal Podhradsky
Subject: Re: [Paparazzi-devel] ROTORCRAFT strange behavior again
Date: Mon, 02 Sep 2013 20:14:46 -0600
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/20130803 Thunderbird/17.0.8

Try higher D gain for yaw (respective 'r').
M

On 09/02/2013 07:20 PM, Eduardo lavratti wrote:
Hi Sergey,

i will try lower the ADAPT_NOISE_FACTOR but the altitude hold are working fine.
About the magnetometer, the values are right.
In my country the magnetometer ever get low values.

Some time ago the mikrokopter changed the magnetometer to hmc5883 and have some issues because this low values.

About REF_MAX_R and R_DOT i lowered the values according to Felix.
i get the values from krooz_sd airframe example.
The problem with low values is that the quad react to low.
For example, some time i do some YAW command and when i release the stick the quad continue turning .
Some time i turn more than 45deg.

Today when i fly with low values i do a very fast turn and when i release the stick the copter turn more than 120deg and i get a bit confused because i flying near the trees and i hit one.
The result: 2 carbon fiber props broken.

I ever use YAW commands at high rate in my flights.
What parameter do you suggest to speed up the yaw reaction ?

> To: address@hidden
> Date: Tue, 3 Sep 2013 00:01:35 +0200
> From: address@hidden
> Subject: Re: [Paparazzi-devel] ROTORCRAFT strange behavior again
>
> Hi Eduardo!
>
> Well, I glanced a bit over your krooz_sd_quad_agr.xml airframe setup, and
> have some questions:
> 1. Since you are using adaptive throttle here, did you try a lower
> ADAPT_NOISE_FACTOR? From my experience, the lower values give more stable
> behavior. Currently I end up on ADAPT_NOISE_FACTOR = 0.7
> 2. Have you actually calibrated the accelerometer? It is really important.
> 3. Your magnetometer calibration looks a bit suspiciously. Here is one of
> my for the default KroozSD magnetometer range:
>
> <define name="MAG_X_NEUTRAL" value="-212"/>
> <define name="MAG_Y_NEUTRAL" value="44"/>
> <define name="MAG_Z_NEUTRAL" value="-17"/>
> <define name="MAG_X_SENS" value="2.82420831216" integer="16"/>
> <define name="MAG_Y_SENS" value="2.80519777434" integer="16"/>
> <define name="MAG_Z_SENS" value="2.92660277562" integer="16"/>
>
> I would recommend to recalibrate it again, if you have any troubles with
> the heading.
> 4. According my experience, your REF_MAX_R and REF_MAX_RDOT values are way
> to large. This can cause an undesired behavior, like, for example, jumping
> up and down.
>
> Best Regards,
> Sergey
>
> > No telemetry because i fly far away from my home.
> >
> >
> > Date: Sun, 1 Sep 2013 18:45:57 -0600
> > From: address@hidden
> > To: address@hidden
> > Subject: Re: [Paparazzi-devel] ROTORCRAFT strange behavior again
> >
> >
> > I mean, do you at least have telemetry
> > data from the flight?
> >
> >
> > Yes, I do - quadrotors and hexarotors.
> >
> >
> > On 09/01/2013 06:30 PM, Eduardo lavratti wrote:
> >
> > Nops ..
> >
> > i am flying outside and not have openlog on this rotorcraft.
> >
> >
> > Tomorrow i will install openlog.
> >
> >
> > Are you flying rotorcraft ?
> >
> >
> >
> >
> > Date: Sun, 1 Sep 2013 17:59:53 -0600
> >
> > From: address@hidden
> >
> > To: address@hidden
> >
> > Subject: Re: [Paparazzi-devel] ROTORCRAFT strange behavior
> > again
> >
> >
> > Eduardo, do you have flight logs?
> >
> >
> >
> > On Sun, Sep 1, 2013 at 1:52 PM,
> > Eduardo lavratti <address@hidden>
> > wrote:
> >
> > Hello friends, a new arm for my big
> > quad come this weekend and i assembled the
> > rotorcraft again.
> >
> >
> > I using a new laptop with new PPZ installation.
> >
> > I am updated the ppz yesterday at night so i using
> > the latest version (v5.1_devel-245-g4756de6-dirty)
> >
> >
> > Well, the nav are working very well.
> >
> > The altitude need some tunnig (5~7 meter overshot
> > when i do pith/roll comands using alt_z_hold)
> >
> >
> > With latest version i think the command are much
> > more responsive.
> >
> > I think this is because the "stabilization int_ref
> > scaling"
> >
> >
> > The new GUIDANCE_V_NOMINAL_HOVER_THROTTLE
> > are working very well.
> >
> > Now when i engage the alt_hold the rotorcraft not
> > drop altitude.
> >
> >
> > For now the WOOBLE problem continue.
> >
> >
> > After some minutes of perfect flight (hover_z_hold)
> > i do 75% YAW command and the rotorcraft hold its
> > position very well even with continuos YAW.
> >
> >
> > THen i stop the YAW and after some second i change
> > from hold_z to alt_z the fly some seconds and the
> > rotorcraft start to WOOBLE .
> >
> >
> > This time the battery are @ 50%.
> >
> > The airframe file are all new, ppz are new
> > installation but the wooble problem continue.
> >
> >
> > This is the cause of my 2 last crashes using 2
> > diferente rotorcraft and boards (lisa/krooz).
> >
> >
> > I am not confident with PPZ because the problem are
> > very dangerous.
> >
> >
> > Anyone flying ppz rotorcraft here and confirm that
> > not have this problem ?
> >
> >
> > BTW, i am experienced helicopter 3D pilot ... so
> > this is not a pilot issue.
> >
> > Some time the wooble start even in HOVER_Z_HOLD.
> >
> >
> > _______________________________________________
> >
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> >
> > address@hidden
> >
> > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >
> >
> >
> >
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> >
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