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

[Felix Ruess]

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.

Have any of you encountered this before? Any potential solutions/explanations?

Thanks.

-psinha.

--
Pranay Sinha

Co-founder;

Aerodynamics & Controls Engineer

Transition Robotics, Inc.

340 Woodpecker Ridge

Santa Cruz, CA

P: (831) 426-3733
F: (831) 426-5666 

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel