[Paparazzi-devel] A couple more questions

[Chris]

Hi.
I use the PpzUavimu and so far i am very happy with it, it is really 
working great,
but  it seems that the PFD indicator is behaving in a peculiar way.
After a couple of trimming flights i was forced to use -4 degrees for 
the INS roll neutral default
in order to make the plane fly level in AUTO1,
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-4.0)" unit="radians"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
</section>
and now the PFD shows that the plane is rolled to the right by the same 
amount (4 degrees)
although it flies straight in AUTO1 and AUTO2.
It also shows this when it stands on the ground level.
Shouldn't the PFD show that i am level since the plane actually is 
flying straight in the air?
I also want to ask why i need to input those 4 degrees since the 
Ppzuavimu is level on the plane
and the plane is trimmed mechanically for completely level flight in 
MANUAL mode.
Is there any settings that i can change in order to remove this -4 degrees?
(like tilting the actual imu or something else)
Another problem i have is when there is  strong wind blowing and the 
plane is making circles
it looses much altitude when the it changes from headwind to tailwind.
Is there any parameters i can tweak for the better?
Chris