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Re: [Paparazzi-devel] Lia 1.1 w/ Aspirin 2.2 - AP Failure Problems

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Lia 1.1 w/ Aspirin 2.2 - AP Failure Problems
Date: Wed, 22 Apr 2015 23:02:28 +0200

Hi Hunter,

you get this message if fbw goes into FAILSAFE mode. See also
Since your RC signal is obviously fine, it seems that you get an AP data timeout...

And I guess you are also using AHRS_TRIGGERED_ATTITUDE_LOOP that runs the controller (and transfers the commands via inter_mcu to fbw) only when you get new estimates from the AHRS.
Did you check if the PFD shows a correct attitude? Did you do proper pre-flight tests? Like checking that in AUTO1 the control surfaces move appropriately when tilting the aircraft in the hand?

If yes, then it might be a bug....
I would probably first remove that define from your airframe file and let the attitude_loop be normally triggered periodically with CONTROL_FREQ as is the default.
Also what paparazzi_version are you using?

Hope that helps,

On Tue, Apr 21, 2015 at 10:27 PM, <address@hidden> wrote:

We recently updated our PPRZ installation using the one-liner install
script from the wiki, but we're running into some problems getting our
systems back up and running.

Currently, we're working to get our Lia v1.1 w/ Aspirin 2.2 system
functional again, but are experiencing 'mayday - AP Failure, retake manual
control' errors. At this point we have abandoned our old configuration
files and are trying to get the provided 'MentorEnergy' example working
with as few modifications as possible; most changes are version numbers
and the change of AHRS and radio controller type.

We can build and flash to the unit, no issue. After binding the Spektrum
radio the telemetry link is established and messages are successfully sent
in either direction.

- Manual Flight is possible, but switching to FBW or Auto causes AP
Failure error.
- GPS (UBlox), Gyro, and Airspeed (EagleTree) appear to be functioning
nominally when analysing the MavLink messages from the aircraft.
- Target configuration uses the "lisa_m_2.2" as the board type as the Lia
1.1 is based off it.
- We're using float_dcm as AHRS, and alt_float as INS as defined in the
default MentorEnergy airframe configuration.
- We're using the factory default IMU Accelerometer calibration.
- GPS fix is never more accurate than 5 meters.

Any help is greatly appreciated. We were hoping to make use of the
numerous improvements we assume have been integrated in the last year.

Thanks in advance,

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