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

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Is the multirotor software of paparazzi not save?
Date: Tue, 24 Jun 2014 23:07:53 +0200


Which subsystem did you use? ublox or ublox_utm? How did you configure your GPS (which messages, etc...)?

regarding point 4:
It is easy to make BARO_MS5611_SPI the default for lisa_m_v2.0 in master, but I don't want to change this for a stable version (v5.0). The users with an aspirin IMU without the MS5611 will have to explicitly choose the BMP085 on Lisa/M.
There is unfortunately no nice way to automatically set BARO_MS5611_SPI if you are using aspirin2.2 (and also there are aspirin2.2 boards without the baro, since it wasn't available from the start).
Ideally we would automatically detect which baro is available... but in the current system this is not so easy (and personally I actually prefer to only flash the code for the sensors that are actually on the board).

Cheers, Felix

On Mon, Jun 23, 2014 at 6:58 AM, alonso acuña <address@hidden> wrote:
I would recommend to tie the multirotor to the ground with something heavy and a metal string that allows it to fly some 30cm above ground. Then you can test all gains etc without danger. 

On Sun, Jun 22, 2014 at 2:13 PM, Sergey Krukowski <address@hidden> wrote:
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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