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Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control aut

From: Michal Podhradsky
Subject: Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authori
Date: Fri, 9 Nov 2012 14:30:00 -0700

Hi Loïc,

I am attaching the logs:
1) AP mode and Vertical mode vs. thrust command (scaled to fit). It is not obvious for the first sight, but after going from Z_HOLD(8) to ATT(3) our RC pilot was pulling throttle even up to 100% trying to keep the plane in the air, but it is not reflected in the plot until the last moment - right before the landing (t=239s)

2)  Vertical loop - est_z, est_zd, est_zdd and AP mode. You can see the quad was climbing rapidly during Z_HOLD, and then started to descend after switching to ATT.


On Fri, Nov 9, 2012 at 1:06 AM, Loic Drumettaz <address@hidden> wrote:

I never experienced such issue. I don't use adaptative estimator for thrust, but NOMINAL_THROTTLE instead (see Paparazzi vertical loops wiki page).  From my experience, it is sometime difficult to switch from RC_CLIMB mode to DIRECT mode for the pilot, because of the sudden change of throttle required to hover.
Maybe could you post your logs?


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