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From: | Sergej Krukouski |
Subject: | [Paparazzi-devel] Problem with QUAT heading in AHRS subsystem |
Date: | Mon, 9 Jul 2012 17:21:39 +0200 |
Hallo! I use the Booz hardware with int_cmpl_quat as AHRS
subsystem. I’ve calibrated mag on the imu, so with the
euler AHRS my rotorcraft is perfect stable. For the quat AHRS I filled up AHRS_H_X, AHRS_H_Y,
AHRS_H_Z from the NOAA site and use the same calibration data as for euler. But I found out following problem: the heading angle
is unstable. When I rotate the rotorcraft too fast, the yaw (psi) angle follows
too slow the body and the rotorcraft becomes unstable (in HOVER_Z_HOLD mode). I use the latest available version from git. What could I do wrong here? Thanks! Sergey |
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