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Re: [Paparazzi-devel] fixed point complementary quaternion AHRS in fixed

From: karlito
Subject: Re: [Paparazzi-devel] fixed point complementary quaternion AHRS in fixedwing
Date: Tue, 01 Jul 2014 17:39:16 +0200
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:24.0) Gecko/20100101 Thunderbird/24.5.0

I disabled the AHRS_GRAVITY_UPDATE_COORDINATED_TURN, and putted the IMU configuration in the fixedwing airframe file (attached), but the issue remains.

I forgot to specify that the initialisation works fine. The first approximation (when stating the autopilot) is ok, but then the amplitude of the movements are very small compared to reality.

Thanks a lot.

Have a nice day.

Sent from my crane.
On 01-07-14 17:08, Felix Ruess wrote:
Hi Karlito,

the difference in ahrs int_cmpl_quat is that AHRS_GRAVITY_UPDATE_COORDINATED_TURN is enabled by default for fixedwing firmware (but only relevant if you USE_GPS).
And you are using different IMU calibration... try with the same one (the one in your rotorcraft file if that one works)...

Cheers, Felix

On Tue, Jul 1, 2014 at 2:22 PM, karlito <address@hidden> wrote:

I'm working on the Delfly (, I would like to make it autonomous with paparazzi. In my case I would like to make it go forward first, and the eventually make it hover (like in the video).

For that reason I started using the fixed wing firmware. But when I use the fixed point complementary quaternion AHRS algorithm, I get an attitude that is very small in amplitude compared to the reality. For example pitching up 90° will make it display 10° on the PFD.

I then tried with he rotorcraft code. In that case it works perfectly, my PFD displays something very close to the reality.

I joined the two airframe files that I use for my tests.

What could be the reason for this comportment.

Thanks a lot.

Have a nice day.
Sent from my crane.

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