|Subject:||[Paparazzi-devel] Lisa/M terminated standby circling|
|Date:||Fri, 29 May 2015 15:22:42 +0200|
Hi,I just experienced an interesting behavior of a Lisa/M v2 (Transition Robotics) with Paparazzi v5.4.0.
I had finished tuning my fixed wing in AUTO1 and switched to AUTO2. The plane started to intercept altitude and to align himself to the Standby circle. After a half (more or less) stabilized circle she terminated the circle and started to roll to the opposite direction. I switched back to AUTO1 and landed. Post flight analysis of log showed no anomaly. No warning, no lost RC or GPS, no GPWS warning, no change in PPRZMode, motor running.
I increased the height of waypoints and started a new flight. The result was the same. After a half circle in Standby mode, she started an opposite spiral. I left her to do it and experienced a path similar to one and a half spiral in strong in wind by constant roll. Post flight analysis showed a rapid change in Desired.Roll, even the carrot and the green circle of the Standby mode still behaved as I expected.
The rapid change in Desired.Roll happened more or less in the same time as Attitude.Psi changed sign. This is only expectation, because this sign error would ruin all Paparazzi flight in the world. Even my simulations didn't predict this behavior. Unfortunately the telemetry messages are not too dense to confirm this expectation. Do you have any advice what should I do to identify the reasons? (NEO7P works already fine.)
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