[Paparazzi-devel] Lisa/M terminated standby circling

[Balázs GÁTI]

Hi,

I just experienced an interesting behavior of a Lisa/M v2 (Transition 
Robotics) with Paparazzi v5.4.0.

I had finished tuning my fixed wing in AUTO1 and switched to AUTO2. The 
plane started to intercept altitude and to align himself to the Standby 
circle. After a half (more or less) stabilized circle she terminated the 
circle and started to roll to the opposite direction. I switched back to 
AUTO1 and landed. Post flight analysis of log showed no anomaly. No 
warning, no lost RC or GPS, no GPWS warning, no change in PPRZMode, 
motor running.

I increased the height of waypoints and started a new flight. The 
result was the same. After a half circle in Standby mode, she started an 
opposite spiral. I left her to do it and experienced a path similar to 
one and a half spiral in strong in wind by constant roll. Post flight 
analysis showed a rapid change in Desired.Roll, even the carrot and the 
green circle of the Standby mode still behaved as I expected.

The rapid change in Desired.Roll happened more or less in the same time 
as Attitude.Psi changed sign. This is only expectation, because this 
sign error would ruin all Paparazzi flight in the world. Even my 
simulations didn't predict this behavior. Unfortunately the telemetry 
messages are not too dense to confirm this expectation. Do you have any 
advice what should I do to identify the reasons? (NEO7P works already 
fine.)


Regards,
 Balazs