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

[Felix Ruess]

Hi Karlito,

the difference in ahrs int_cmpl_quat is that AHRS_GRAVITY_UPDATE_COORDINATED_TURN is enabled by default for fixedwing firmware (but only relevant if you USE_GPS).

And you are using different IMU calibration... try with the same one (the one in your rotorcraft file if that one works)...

Cheers, Felix

On Tue, Jul 1, 2014 at 2:22 PM, karlito <address@hidden> wrote:

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.

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