[Paparazzi-devel] fixed point complementary quaternion AHRS in fixedwing

[karlito]

Hello,


I'm working on the Delfly (https://www.youtube.com/watch?v=tNPfD9l14Js), 
I would like to make it autonomous with paparazzi. In my case I would 
like to make it go forward first, and the eventually make it hover (like 
in the video).

For that reason I started using the fixed wing firmware. But when I use 
the fixed point complementary quaternion AHRS algorithm, I get an 
attitude that is very small in amplitude compared to the reality. For 
example pitching up 90° will make it display 10° on the PFD.

I then tried with he rotorcraft code. In that case it works perfectly, 
my PFD displays something very close to the reality.


I joined the two airframe files that I use for my tests.

What could be the reason for this comportment.



Thanks a lot.

Have a nice day.
--
Sent from my crane.

delfly_desperado.xml
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delfly_desperado_rotorcraft.xml
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