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Re: [Paparazzi-devel] Quad Tuning?

From: Ori Pessach
Subject: Re: [Paparazzi-devel] Quad Tuning?
Date: Fri, 16 Jan 2015 02:40:47 +0200


I think I just figured out why my drone was doing what you described here while taking off in NAV: I was using the rotorcraft_basic.xml flightplan as a basis for my flightplan, and here's what the  Takeoff block looked like:

<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
  <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby" />
  <call fun="NavSetWaypointHere(WP_CLIMB)" />
  <stay climb="1.0" vmode="climb" wp="p1" />

As far as I understand, this moves the CLIMB waypoint to the drone's current location, and then attempts to climb to waypoint P1 at a rate of 1m/s until the drone reaches an altitude of 2 meters, at which point control switches to the Standby block.

The problem for me was that P1 was not near the drone's starting point, and the drone was trying to make a sharp turning maneuver while still on the ground, causing all sorts of ground encounter issues. 

Changing the stay element to:

<stay climb="1.0" vmode="climb" wp="CLIMB" />

fixed the issue I was having with takeoff, and allowed the drone to finally takeoff cleanly, climb to its target altitude and move to the Standby block. I also changed the standby block so that it stays at the CLIMB waypoint, instead of P1.

This was the first time I was able to fly the drone completely autonomously with Paparazzi. Once the drone was off the ground, it seemed to navigate between waypoints and land perfectly fine. I have to say that flying is a lot more satisfying than crashing...

On Mon, Dec 29, 2014 at 8:28 PM, Ben Laurie <address@hidden> wrote:
Is there a good tutorial for choosing all the different PID parameters
for a quad?

Mine flies fine when flown manually, but is perhaps a little soft.

It also has problems taking off in NAV: it tends to ramp up the motor
slowly and when its got enough lift to take off it instead flips over
(I presume because its trying to head off in some direction other than
straight up?).

Takeoff in ATT is just fine.

Could this be down to PID tuning?

(I also wonder if I've managed to break the GPS antenna - error is around 6m).

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