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[Paparazzi-devel] rotorcraft / throttle sensitivity / rate mode

From: Oswald Berthold
Subject: [Paparazzi-devel] rotorcraft / throttle sensitivity / rate mode
Date: Tue, 27 May 2014 10:45:49 +0200
User-agent: mu4e; emacs 24.3.1

dear list,

i am very glad finally having a real paparazzi system for work and
play. as you're already suspecting, i have some questions.

 - quadrotor, X configuration
 - lisa/m v2
 - orange rx satellite
 - turnigy multistar 20A ESCs
 - git 82d414d8 .. (20140520)

throttle issue:
 1. arming starts the motors but i have to keep them alive by giving
   some more throttle, otherwise some of them starve. igains are zero
   for the attitude controller. i cannot raise "neutral" because of the
   next subissue
 2. i have been able to make a first flight with my provisional PID
   settings and throttle seems oversensitive. quad takes off with maybe
   20% of stick and it was quite a challenge to hover manually.
rate mode issue:
 - when i alternatively configure rate mode for switch 1 manual, the PFD
   doesn't work. is attitude estimation disabled in rate mode? also, in
   messages i see that the phi/theta/psi ests are not updated.

regards and thanks for any feedback,

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