[Paparazzi-devel] eliminate ATT steady-state error

[Eltonwu]

I use 5.2.1 ppz,and fly rotorcraft in ATT mode successfully,very stable.but
have a small defect: always drift to left side.

from GCS, I see the rotorcraft's attitude has 2° degree error (not around 0
degree) when I release the attitude stick.so the rotorcraft drift to left.

I check the RC input found no attitude input.So I think it's caused by PID
gains.

I try to increase the  ATT igain to 800,but found no improvement compare to
100 igain. So how does igain work?

How to eliminate ATT steady-state error?

Any suggestion will be appreciated.



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