Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authority after switching from Z_HOLD to ATT

[Felix Ruess]

It would be great if you could add the ROTORCRAFT_RADIO_CONTROL message to the "vert_loop" mode in the telemetry xml file that you use and log that.

Thx, Felix

On Fri, Nov 23, 2012 at 11:39 PM, Eduardo lavratti <address@hidden> wrote:

Sorry felix, i am flying outdoor.
tomorrow i will record the logs.
What kind of log you want ? "vert_loop"  or "default" ?

BTW, i do one more flight some minutes ago.

Something strange occur.
I am controlling the quad with Z_hold active and i loss the authority of pitch / roll (there was only a limited amount of authority) as michal say.
this time i am using adaptive loop.
I never had similar problem.

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Date: Fri, 23 Nov 2012 23:18:40 +0100

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authority after switching from Z_HOLD to ATT

Could you provide the logs of the flight?

On Fri, Nov 23, 2012 at 10:38 PM, Eduardo lavratti <address@hidden> wrote:

I do more 6 flights
4 flight only in HOVER and another 2 in ALT_Z_HOLD.

for 2 times the rotorcraft sudden loss altitude and stay in the ground when i use alt_z_hold.
This time i am using adaptive guidance v

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From: address@hidden
To: address@hidden

Date: Fri, 23 Nov 2012 19:44:49 +0000

Subject: Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authority after switching from Z_HOLD to ATT

Tks felix
i am using v4.0.3_stable-4-gb380a3c-dirty

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Date: Fri, 23 Nov 2012 20:42:35 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authority after switching from Z_HOLD to ATT

Run ./paparazzi_version from your paparazzi dir...

On Fri, Nov 23, 2012 at 8:39 PM, Eduardo lavratti <address@hidden> wrote:

How i do to get the code version ?
i not shure but i use git branch -vv
Result: V4.0  b380a3c

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From: address@hidden
To: address@hidden
Date: Fri, 23 Nov 2012 19:14:39 +0000
Subject: Re: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authority after switching from Z_HOLD to ATT

Michal, today i am flying using Z_HOLD and after some minutes the rotorcraft rapidly descent and touch the ground (while staying table).
The baterry is full charged ... no radio glitch.

I land the rotorcraft and start another flight.
This time the Z_HOLD stay working for more 6 minutes without problem.

i am using default guidance_v loop.

I do more flight´s and post the result here.

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Date: Thu, 8 Nov 2012 14:58:45 -0700
From: address@hidden
To: address@hidden
Subject: [Paparazzi-devel] Quadrotor with Lia 1.1 - a sudden loss control authority after switching from Z_HOLD to ATT

Hi everybody,

we are testing a quadrotor with Lia 1.1. board and Paparazzi code v.4.0.3, using the adaptive throttle estimation for hover (as is in guidance_v_adpt.h)

During a flight everything went great until the RC pilot switched from AP_MODE_ATTITUDE_Z_HOLD (Z_HOLD with a barometer) to AP_MODE_ATTITUDE_DIRECT (ATT). At that moment we experienced a sudden loss of control authority over the quad (there was only a limited amount of authority, as is the NAV mode) and the craft started to rapidly descend (while staying stable). The full control was restored after roughly 15 seconds (where it was already just above the ground).

From the logs can be seen that the problem wasn't radio connection, and the AP mode was correctly switched to ATT. IMU, GPS, and barometer were also working normally. However thrust command from RC pilot seemed to be overridden by adaptive estimator, even though we were in ATT mode. A possible explanation would be a software glitch during switching the AP modes.

Have you ever came across a similar issue (i.e. autopilot software glitch)?

Regards
Michal





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