|Subject:||Re: [Paparazzi-devel] Rotocraft: Increase in psi while switching into HOVER_Z_HOLD mode|
|Date:||Tue, 28 Apr 2015 22:37:09 +0200|
|User-agent:||Mozilla/5.0 (X11; Linux x86_64; rv:31.0) Gecko/20100101 Thunderbird/31.6.0|
I uploaded the logs here.
Not sure if I plotted (or logged) correctly and/or enough data. Here is another screenshot showing est_psi and sp_psi. I certainly did yaw the copter before and after switching into hover mode - but not while or shortly after switching.
I am noticing that my sp_psi and sp_psi show a noticeable difference. Something I need to work on.
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.
You meant the switch from KILL to ATTITUDE_DIRECT (not HOVER), or? At time 231.401 (the first "drop" of cmd_heading):
230.207 2 ROTORCRAFT_STATUS 0 0 2 0 3 0 0 0 0 0 125 298Mhm, not sure. I guess that is normal. I certainly didn't alter the code in this area (or any other).
All the best,
Am 28.04.2015 um 21:03 schrieb Felix Ruess:
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