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Re: [Paparazzi-devel] The rotorcraft rotates self when flying or around

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] The rotorcraft rotates self when flying or around take off
Date: Thu, 24 Jul 2014 15:42:09 +0200

Everything your yaw stick steers before you take off is "remembered" and on take off the quad will turn to that setpoint. If your yaw is not well trimmed and you take off slowly it can easily turn your quad many degrees left or right because the heading setpoint moved left or right integrating your non trimmed stick for several seconds.

After putting a little throttle, just not enough to take off, steer the heading setpoint very slowly left or right until all motors turn at the same speed again. If 2 of the 4 are running more rapidly it means your setpoint is not in the direction the quad is now and upon takeoff it will heading jump left or right. If you steer the heading slowly in the direction where the motors that run fastest (which you hear best) slow down until all 4 are more or less equal than after takeoff there will be no more jump.

Other things that can contribute: calibrate your magnetometer as heading drift has the same effect, trim your transmitter so paparazzi sees zero commands in the messages, or increase the yaw deadband.

On Jul 23, 2014 8:26 AM, "Eltonwu" <address@hidden> wrote:
I use ATT mode to try to fly, roll and pitch is OK,When I put the throttle up
to almost take off or in flight, the yaw begin to rotate in same direction.
I don't think it is a PID tuning problem, because I modify some code to
force output raw RC yaw input instead of PID output in ATT mode.

I suspect if it is possible there is consistency problem among four motors,
What I mean is some motors run slow,and motors are run fast. and cause to
the craft rotate? The performance of the motor I used is not very sure.

Any answer will be appreciated.

Thanks in advance

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