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Re: [Paparazzi-devel] STABILIZATION_EULER - problem.

From: Eduardo lavratti
Subject: Re: [Paparazzi-devel] STABILIZATION_EULER - problem.
Date: Fri, 30 Nov 2012 16:41:58 +0000

Yeah ... for sure the stabilization_int_quat have problem !
Today i do my first 8 minutes completely autonomous HOVER.

what i do ? change the stabilization to euler
as i say below the euler have some problem when using HIGH I gain.

From: address@hidden
To: address@hidden
Date: Fri, 30 Nov 2012 03:56:17 +0000
Subject: [Paparazzi-devel] STABILIZATION_EULER - problem.

Hello, i found a problem in stabilization euler.

Here are the config do reproduce the error:
stabilization = euler
ahrs = int_cmpl_quat

in stabilization_atitude set Igain to any high value like 600

now catch you rotorcraft by hand and start the motor.
put some throttle to enable integrador.

force the roll in rotorcraft and wait the sum_err increment more than 2500000

when this occur the attitute will work incorrect.
In my case, the quad turn 45° on roll and stay in this angle and integrator not work anymore.

I found a similar error in int_quat if you catch the frame and force an YAW for some seconds.
After some time forcing the yaw the roll and pitch will work completly crazy.
The rotorcraft will turn in circles like funnel turn.

tomorrow i do more tests.
best regards.

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