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

From: Felix Ruess
Subject: Re: [Paparazzi-devel] rotorcraft / throttle sensitivity / rate mode
Date: Wed, 28 May 2014 18:06:29 +0200

Hi Oswald,

this very much sounds like you either need to calibrate your ESCs and/or set up the min,neutral,max properly in your servo section.
The neutral value should be the pulse length in us at which your ESCs turn the motors on, but at an acceptable idle speed. Min is off in that case and max is well, max...

This has nothing to do with the gains or anything like that at this point... first you need to make sure that if you send the "neutral" value all motors will rotate at idle speed and reach their maximum speed at max and not before.

I never use rate mode, but the ahrs (attitude estimation) should run as normal... and works as expected here...
Can you provide some more details?

Cheers, Felix

On Tue, May 27, 2014 at 10:45 AM, Oswald Berthold <address@hidden> wrote:

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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