It will not solve all the problems, but I think you have not
activated the VELNED message in your u-blox module. It is annoying
since on fixed-wing, it is used to get the (ground) speed and
direction. It is even a miracle that you could fly in AUTO2.
The strange trajectory occurs when the heading is wrapping at 180 deg
while the desired heading is wrapping at 360. We have an open issue
for this... I have never used the int_cmpl_quat ahrs on FW, especially
with MAG instead of GPS course.
If activating the VELNED message is not enough, we'll have to take a
closer look at how the heading error is computed in nav.
Gautier
Le 29/05/2015 16:11, Balázs GÁTI a écrit :
Hi,
Paparazzi version: v5.4.0_stable
The two log files can be downloaded:
ftp.edufly.net Port 21
user: address@hidden
p: NW7100log
Time of interest
13_03_52: t= 315s
13_47_23: t= 320s
Balazs
2015-05-29 15:43 időpontban Gautier Hattenberger ezt írta:
Can you post the log files somewhere ? And give exact paparzzi
version (./paparazzi_version)
Gautier
Le 29/05/2015 15:22, Balázs GÁTI a écrit :
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
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---
Balazs GATI, PhD
associate professor
Department of Aeronautics, Naval Architecture and Railway
Vehicles
Budapest University of Technology and Economics
Address: Budapest
Stoczek u 6. J. ép. 423
1111
Tel: +(36)-1-463-1960 [1]
Fax: +(36)-1-463-3080 [2]
Homepage: http://vrht.bme.hu/ [3]
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