[Paparazzi-devel] Ardrone2 - unusal NAV mode flight experience

[Stephen L Hulme]

Hi Guys,

Following an acceptable No_RC flight experience back in late February
(see attached log 14_02_26__16_13_31) using the following operational
defines:

<airframe NAME="ardrone2_raw">
       <firmware NAME="rotorcraft">
         <target NAME="ap" BOARD="ardrone2_raw">
           <define NAME="USE_INS_NAV_INIT"/>
           <configure VALUE="200" NAME="AHRS_PROPAGATE_FREQUENCY"/>
           <define VALUE="200" NAME="AHRS_PROPAGATE_FREQUENCY"/>
           <define VALUE="200" NAME="INS_PROPAGATE_FREQUENCY"/>
           <define NAME="AUTOPILOT_DISABLE_AHRS_KILL"/>
           <subsystem TYPE="udp" NAME="telemetry"/>
           <subsystem TYPE="datalink" NAME="radio_control"/>

I decided to undertake an RC/Gamepad flight test (see attached log
14_03_19__09_30_09) with updated defines:

<airframe NAME="ardrone2_raw">
       <firmware NAME="rotorcraft">
         <target NAME="ap" BOARD="ardrone2_raw">
           <define NAME="USE_SONAR"/>
           <define NAME="USE_BARO_MEDIAN_FILTER"/>
           <define NAME="NO_RC_THRUST_LIMIT"/>
           <define NAME="AUTOPILOT_DISABLE_AHRS_KILL"/>
           <subsystem TYPE="udp" NAME="telemetry"/>
           <subsystem TYPE="datalink" NAME="radio_control"/>
         </target>

All other flight control factors remained unchanged. 

Unfortunately and seemingly unreported within the altitude related data
files the ardrone2 shot directly upwards from the the 'standby' block,
until I lost my nerve and activated the 'land here' command. Eventually
the aircraft rapidly descended to about 10 meters after which the motors
spooled up to allow a hard but no damage landing. 

The only clue in respect of this unexpected altitude gain can be
discerned in the GCS throttle indicator - it reaches 100% before my
recovery attempt.

Any answers or clues welcome.  

Thereafter I reverted to a No_RC flight test (see attached log
14_03_19__09_52_29) with these defines: 

<airframe NAME="ardrone2_raw">
       <firmware NAME="rotorcraft">
         <target NAME="ap" BOARD="ardrone2_raw">
           <define NAME="AUTOPILOT_DISABLE_AHRS_KILL"/>
           <subsystem TYPE="udp" NAME="telemetry"/>
           <subsystem TYPE="datalink" NAME="radio_control"/>
         </target>

The outcome was similar to that experienced late last February despite
it's truncated period - I was too nervous to test waypoint flight
without seeking an explanation.

Thank you for any advice in advance.

Regards

Stephen

14_02_26__16_13_31.log
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14_02_26__16_13_31.data
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14_03_19__09_30_09.log
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14_03_19__09_30_09.data
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14_03_19__09_52_29.log
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14_03_19__09_52_29.data
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Ardrone2 with wifi extender.jpg
Description: JPEG image