Re: [Paparazzi-devel] Motor mixing saturation - max offset unbounded (Michal Podhradsky)

[Michal Podhradsky]

Loïc,

this happens "in flight", at around 30% of throttle, just before take-off. As Felix explained, it is a known problem caused by yaw drift in AHRS unit, and not handled properly by motor-mixing algorithm.

See: http://lists.gnu.org/archive/html/paparazzi-devel/2013-04/msg00109.html

Regards

Michal

M

On Sat, Apr 20, 2013 at 5:57 AM, Loic Drumettaz <address@hidden> wrote:

Hi Michal,

I think the yaw control is disabled as long as the AP is not "in flight". So maybe your AP switches to "in flight" mode too early, before take off?  Maybe this should be considered before looking at yaw control when in flight?

Loïc

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