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Re: [Paparazzi-devel] one crash today, reach MAX_DIST_FROM_HOME, PID pro

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] one crash today, reach MAX_DIST_FROM_HOME, PID problem ?
Date: Wed, 23 Jul 2014 23:11:03 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:24.0) Gecko/20100101 Thunderbird/24.6.0


The GCS shows an estimated wind of 7m/s, which is almost half of your flight speed, so the evolution of the desired roll looks normal to me on the first plot. On the second one, everything is normal, except the part where the desired roll stays constant a few seconds after entering home mode. Unfortunately, I don't have an explanation for this right now. Could you try to make a simulation of your flight to see if the behavior is the same or not (it is working as expected for me) ?


Le 23/07/2014 18:23, afishindouban a écrit :
someone can have a look and give me some guide?


This is standby roll and desired roll, why the desired roll is so trembled
and unstable, wind is one reason, I think other is some parameter is not
right. maybe course pgain is too big ? or roll pgain, roll rate pgain has
problem? also you can see always between desired and actully roll there is
about 5 degree gap, what is the reason for that?


Here is the roll analyse of the last phase before it kill and crash. i saw
roll is following desired roll, but looks like the  nav course loop give a
wrong result?

Please some one can have a look at it. thank you so much


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