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Re: [Paparazzi-devel] Tiltrotor-Project

From: notoriou5
Subject: Re: [Paparazzi-devel] Tiltrotor-Project
Date: Mon, 6 Jun 2016 06:49:20 -0700 (MST)

Hello everyone, 

I did not write for a long time but the project moves on.

I checked the orientation of the IMU and everything is fine. The Engines
spin in the right direction and the ATTITUDE_DIRECT Mode does work as well.
So everything seems fine so far. 

The only problem is with the yaw command. It seems a bit slow i comparison
with the roll and pitch command. 

In the code motor_mixing.c I found the following lines:
    /* first calculate the highest priority part of the command:
     * - add trim + roll + pitch + thrust for each motor
     * - calc max saturation/overflow when yaw command is also added
    for (i = 0; i < MOTOR_MIXING_NB_MOTOR; i++) {
      motor_mixing.commands[i] = motor_mixing.trim[i] +
        motor_mixing.roll_coef[i] * in_cmd[COMMAND_ROLL] +
        motor_mixing.pitch_coef[i] * in_cmd[COMMAND_PITCH] +
        motor_mixing.thrust_coef[i] * in_cmd[COMMAND_THRUST];

The Yaw command is not added directly to the output. First they calculate
saturation and overflow. I do not really understand why this is done. I do
also not understand the Code which is following these lines. Can anyone
please explain to me what the saturation and overflow calculation prevent?
And will I have a quicker respond to my YAW reaction if I add
"+motor_mixing.yaw_coef[i]*in_cmd[COMMAND_YAW]" to the top line and
uncomment all the other ones behind this peace of code?

Already thanks for the help,


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