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[Paparazzi-devel] ROTORCRAFT strange behavior again

From: Eduardo lavratti
Subject: [Paparazzi-devel] ROTORCRAFT strange behavior again
Date: Sun, 1 Sep 2013 16:52:43 -0300

Hello friends, a new arm for my big quad come this weekend and i assembled the rotorcraft again.

I using a new laptop with new PPZ installation.
I am updated the ppz yesterday at night so i using the latest version (v5.1_devel-245-g4756de6-dirty)

Well, the nav are working very well.
The altitude need some tunnig (5~7 meter overshot when i do pith/roll comands using alt_z_hold)

With latest version i think the command are much more responsive.
I think this is because the "stabilization int_ref scaling"

The new GUIDANCE_V_NOMINAL_HOVER_THROTTLE are working very well.
Now when i engage the alt_hold the rotorcraft not drop altitude.

For now the WOOBLE problem continue.

After some minutes of perfect flight (hover_z_hold) i do 75% YAW command and the rotorcraft hold its position very well even with continuos YAW.

THen i stop the YAW and after some second i change from hold_z to alt_z the fly some seconds  and the rotorcraft start to WOOBLE .

This time the battery are @ 50%.
The airframe file are all new, ppz are new installation but the wooble problem continue.

This is the cause of my 2 last crashes using 2 diferente rotorcraft and boards (lisa/krooz).

I am not confident with PPZ because the problem are very dangerous.

Anyone flying ppz rotorcraft here and confirm that not have this problem ?

BTW, i am experienced helicopter  3D pilot ... so this is not a pilot issue.
Some time the wooble start even in HOVER_Z_HOLD.

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