[Top][All Lists]

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

[Paparazzi-devel] constant drift in Eular Stab. and QFU in auto take-off

From: michael matkov
Subject: [Paparazzi-devel] constant drift in Eular Stab. and QFU in auto take-off
Date: Mon, 9 Sep 2013 16:30:01 +0200


i have flame wheel quad with lisa/m ,paparazzi 4.9devel (version right before 5stable)

1. when flying with Euler stability and int_cmpl_quat AHRS i get a constant drift of about 20 deg. forward.
 when the quad is leveled on the floor  and an inclination meter confirms it, the PFD is also leveled.
messages rotorcraft_fp shows 0 offsets.
with int_quat stability it works ok.
what could cause this ?
i want to use the Eular stability because the quad handles much much better then with int_quat (same PID values), where it looks like it's vibrating a lot, no matter how much i've tried tuning the PID on a test bench

2. if i trying to take-off automaticaly ,and it gets up to standby mode and staying there fine,
but ,if i put the nose not to the west ,the quad starts the motors and trying to yaw on the floor t aggresively (looks like quad doing breakdance on one arm ;)
some times its getting fliped upside down...
i've done many tryouts, and pointing the nose to the west solves the problam ,is it like the QFU in the fixedwing ?
how can i solve it ?

best regards
    matkov mike

reply via email to

[Prev in Thread] Current Thread [Next in Thread]