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

From: Felix Ruess
Subject: Re: [Paparazzi-devel] attitude ref reaches only about half of SP value
Date: Fri, 15 Nov 2013 15:20:42 +0100

Hi Pranay,

I can not reproduce your issue...

Are you using plain master? Which version? Int or float reference model implementation?
How are you setting the setpoint?
Seems you have modified the sending of the AHRS_REF_QUAT message, as it normally sends two quaternions...
What are you actually sending there?

Cheers, Felix

On Fri, Nov 15, 2013 at 1:31 AM, Pranay Sinha <address@hidden> wrote:
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

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