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[Paparazzi-devel] 转发: The issue about the moving direction of attitude e

From: Tom H
Subject: [Paparazzi-devel] 转发: The issue about the moving direction of attitude estimation
Date: Wed, 16 Dec 2015 09:48:37 +0000 (UTC)

Tom H <address@hidden> 于 2015年12月16日, 星期三, 下午 5:37 写道:

    I encounter a strange problem while it is flying lisa/m with v5.6.The plane direction displayed in GCS doesn't point to the moving direction,sometimes it is vertical to the course or even counter to the moving direction.
Like this:  内嵌图像 

Meanwhile,the plane can't trace the course in mode AUTO2.Although I have disabled the magnetic meter on lisa/m,which should enable the GPS course.The issue still exits.

BTW,I use the very same airframe XML file as used for v5.4 which made my flight very successful.However it doesn't work anymore.Why?If any code about the attitude estimation has been reedited? Any help would be appreciated!

And here is part of my airframe's xml file:

 <firmware name="fixedwing">
    <target name="ap" board="lisa_m_2.0">
      <!-- higher frequency for aspirin imu, ouputs data at 100Hz -->
      <configure name="PERIODIC_FREQUENCY" value="120"/>
      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
    <target name="sim" board="pc"/>
    <target name="nps"   board="pc">
        <subsystem name="fdm" type="jsbsim"/>
    <define name="USE_MAGNETOMETER" value="FALSE"/>
    <define name="AHRS_USE_GPS_HEADING" value="TRUE"/>

    <subsystem name="radio_control" type="ppm"/>
    <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
    <subsystem name="telemetry" type="transparent"/>
    <configure name="MODEM_BAUD" value="B57600"/>
    <subsystem name="control"/>
    <subsystem name="imu" type="aspirin_v2.1"/>
    <subsystem name="ahrs" type="float_cmpl_quat"/>
    <subsystem name="gps" type="ublox"/>
    <configure name="GPS_BAUD" value="B38400"/>
    <subsystem name="navigation"/>
    <subsystem name="ins" type="alt_float"/>

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