|Subject:||Re: [Paparazzi-devel] constant drift in Eular Stab. and QFU in auto take-off|
|Date:||Mon, 9 Sep 2013 17:42:00 +0200|
i have flame wheel quad with lisa/m ,paparazzi 4.9devel (version right before 5stable)
1. when flying with Euler stability and int_cmpl_quat AHRS i get a constant drift of about 20 deg. forward.
when the quad is leveled on the floor and an inclination meter confirms it, the PFD is also leveled.messages rotorcraft_fp shows 0 offsets.with int_quat stability it works ok.what could cause this ?
i want to use the Eular stability because the quad handles much much better then with int_quat (same PID values), where it looks like it's vibrating a lot, no matter how much i've tried tuning the PID on a test bench
2. if i trying to take-off automaticaly ,and it gets up to standby mode and staying there fine,but ,if i put the nose not to the west ,the quad starts the motors and trying to yaw on the floor t aggresively (looks like quad doing breakdance on one arm ;)some times its getting fliped upside down...i've done many tryouts, and pointing the nose to the west solves the problam ,is it like the QFU in the fixedwing ?how can i solve it ?
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