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Re: [Paparazzi-devel] Is the multirotor software of paparazzi not save?

From: Sergey Krukowski
Subject: Re: [Paparazzi-devel] Is the multirotor software of paparazzi not save?
Date: Sun, 22 Jun 2014 22:13:48 +0200
User-agent: Opera Mail/11.61 (Win32)

The jumps problem in your case could also be caused by a very flexible AP board mounting.

Best Regards,


i have to report dangerous behaviour of the paparazzi multirotor software:

   1. by fitting the values of the basic attitude control system i
      observed in 2013 the following: The multirotor shows vibration of
      the frame and climb also if the throttle value where set to zero
      by the rc stick! The only way to command to ground was to arm all
      motors by the kill switch. I think there is a vibration generated
      motor control value.  This is a really safety problem or a wrong
      control idea. For RC flights the RC-Sticks have to control the
      motors overall.
   2. By hart landing the motors get full throttle values and the
      multirotor jumps same times.
   3. The GPS fix is same times wrong. It is possible to get 0 0
      coordinates (middle in the Atlantic see) wiht a gps fix.  This is
      also shown for fixed wing. I see this by the use of lea4 from
      üblox.  It seems that same messages are wrong.
   4. The lisa/M v2.0   in combination with the aspirin2.2 does not run
      out of the box in combination with the  current stabile version

You have to add in  <subsystem name="imu"           type="aspirin_v2.2"/>

 <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>

If you forgot the second line you mutirotor will go up and away and you
will don't see to multirotor again if you switch the  automatic mode.
The reason is that there is no baro altitude information and the
multirotor will always climb.

You can monitor baron altitude by changing the altitude by hand (with
armed motors) and observing the altitude information of the control station.

The point 3 an 4 can easily solved by some lines of code. I hope that
someone will do this soon. Second I want to set up a safety page for the
startup of paparazzi multirotors.



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