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[Paparazzi-devel] eliminate ATT steady-state error

From: Eltonwu
Subject: [Paparazzi-devel] eliminate ATT steady-state error
Date: Wed, 20 May 2015 19:33:55 -0700 (MST)

I use 5.2.1 ppz,and fly rotorcraft in ATT mode successfully,very stable.but
have a small defect: always drift to left side.

from GCS, I see the rotorcraft's attitude has 2° degree error (not around 0
degree) when I release the attitude the rotorcraft drift to left.

I check the RC input found no attitude input.So I think it's caused by PID

I try to increase the  ATT igain to 800,but found no improvement compare to
100 igain. So how does igain work?

How to eliminate ATT steady-state error?

Any suggestion will be appreciated.

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