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Re: [Paparazzi-devel] Quad Tuning?

From: Ben Laurie
Subject: Re: [Paparazzi-devel] Quad Tuning?
Date: Fri, 16 Jan 2015 15:15:42 +0000

On 16 January 2015 at 00:40, Ori Pessach <address@hidden> wrote:
> Ben,
> 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" />
> </block>
> 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.

Haha ... that is awesome! Wish I'd noticed it, would've saved me a lot
of head-scratching. You should submit a pull request. Or I will if you

> 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...

Sure is!

> 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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