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Re: [Paparazzi-devel] Rotocraft: Increase in psi while switching into HO
Re: [Paparazzi-devel] Rotocraft: Increase in psi while switching into HOVER_Z_HOLD mode
Tue, 28 Apr 2015 21:03:05 +0200
So it would make sense to plot the estimated heading together with cmd_heading (e.g. psi from ROTORCRAFT_FP).
My guess is that your (estimated) heading drifted between switches....
What I don't understand is that guidance_h_heading_sp (sent as cmd_heading in HOVER_LOOP) changes even when you switch from KILL to HOVER.
But the only two instances where this variable is updated (apart from initialization to zero) is in guidance_h_run if you are in HOVER or NAV mode.
Did you make any changes that could impact this?
I can take a look at the logs if you upload them somewhere...