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Re: [Paparazzi-devel] lisa/m v2 quadrotor / current minor issues

From: Oswald Berthold
Subject: Re: [Paparazzi-devel] lisa/m v2 quadrotor / current minor issues
Date: Tue, 10 Jun 2014 23:41:36 +0200
User-agent: mu4e; emacs 24.3.1

hi felix, thanks, baro works.

bst, opt

Felix Ruess writes:

> Hi Oswald,
> 1. Which AHRS algorithm? You need to keep the quad still upon powerup
> during the AHRS alignment (gyro neutral calibration). The ahrs aligner led
> blinks while aligning, then stays on when done.
> 2. Yes, you need to calibrate the mag if you haven't already done that.
> 3. The LISA_M_BARO configuration is not for the radio_control subsystem,
> add it under the ap target directly:
>     <target name="ap" board="lisa_m_2.0">
>       <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
>       <subsystem name="radio_control" type="spektrum">
>         <define name="RADIO_MODE" value="RADIO_AUX1"/>
>       </subsystem>
>     </target>
> Then check if you get BARO_RAW measurements when switching to sensors raw
> telemetry mode.
> Cheers, Felix
> On Tue, Jun 10, 2014 at 12:02 PM, Oswald Berthold <
> address@hidden> wrote:
>> dear all,
>> after unweaving several independent but (as usual) coincident issues i
>> was doing my first flight above 1m ground altitude yesterday.
>> turns out my IMU outages weren't related to the power supply but to
>> configuring aspirin v2.1 instead of 2.2. well i hope, that is indeed the
>> case but IMU seems to come up reliably now.
>> now cooking:
>>  1. attitude estimation still seems to go wrong occasionally after
>>    powering up, resulting in a slight offset of pitch/roll angles
>>    (i.e. aircraft flat on the ground but still significant angles in
>>    estimate). is there anything about not moving the aircraft after
>>    plugging the battery?
>>  2. my controller is still suboptimal, in particular YAW seems to go
>>    through an oscillatory left-right sweeping motion. need mag calib for
>>    outdoor situation?
>>  3. i don't seem to get altitude measurements / baro. AGL field in the
>>    GCS always reads 0 for alt and rate. i added the baro line below,
>>    gleaned from quadshot config, to airframe conf but with no effect
>>     <target name="ap" board="lisa_m_2.0">
>>       <subsystem name="radio_control" type="spektrum">
>>         <define name="RADIO_MODE" value="RADIO_AUX1"/>
>>         <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
>>       </subsystem>
>>     </target>
>> if anyone can share a hint on any of 1-3, would be great (lisa/m v2,
>> asp. 2.2, current master), nothing urgent though.
>> bst, oswald
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