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[Paparazzi-devel] attitude ref reaches only about half of SP value

From: Pranay Sinha
Subject: [Paparazzi-devel] attitude ref reaches only about half of SP value
Date: Fri, 15 Nov 2013 06:01:52 +0530

We're seeing fairly puzzling behavior from the new reference model in master branch. Seems like the reference only reaches up to about ~50% of the setpoint value. 
The attached screenshot illustrates this problem. The vehicle was tied down to the table for this test. Moving the vehicle such that the body phi and theta values lined up with the REF also resulted in actual attitudes ~50% of SP values.
Inline image 1Have any of you encountered this before? Any potential solutions/explanations?

Pranay Sinha
Aerodynamics & Controls Engineer
Transition Robotics, Inc.

340 Woodpecker Ridge
Santa Cruz, CA
P: (831) 426-3733
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