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

From: phunter
Subject: Re: [Paparazzi-devel] Lia 1.1 w/ Aspirin 2.2 - AP Failure Problems
Date: Thu, 23 Apr 2015 14:57:29 -0700
User-agent: SquirrelMail/1.4.21

Hey Felix,

Thanks for the prompt reply.

For the moment we have rolled back to the 5.2 release with a successful
flight yesterday. We may experiment with master again in the near future,
so thank you for getting that patch committed.

Thanks again,

> Follow Up:
> I guess you were using master, so a paparazzi_version between
> v5.5_devel-528-g49ab80a and v5.5_devel-549-gec8a400, right?
> Seems that the merge of
> broke AHRS_TRIGGERED_ATTITUDE_LOOP functionality...
> Should be (temporarily) fixed in latest master (v5.5_devel-550-g1535a96)
> with
> Cheers, Felix
> On Wed, Apr 22, 2015 at 11:02 PM, Felix Ruess <address@hidden>
> wrote:
>> 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,
>> Felix
>> On Tue, Apr 21, 2015 at 10:27 PM, <address@hidden> wrote:
>>> Hello,
>>> 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,
>>> Hunter
>>> _______________________________________________
>>> Paparazzi-devel mailing list
>>> address@hidden
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