Re: [Paparazzi-devel] stabilization int_quat reference scaling fixes

[Felix Ruess]

It's hard to say if this will mitigate or fix the problem you are seeing, but I would definitely recommend to update to latest master if you use the int_quat stabilization.

Keep us posted...

On Mon, Aug 5, 2013 at 6:59 PM, Eduardo lavratti <address@hidden> wrote:

I am using int_quat
i am using i = 500.

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Date: Mon, 5 Aug 2013 18:40:05 +0200
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] stabilization int_quat reference scaling fixes

Well, are you using the int_quat stabilization? Or euler?

This only "fixes" the scale attitude reference that is generated for int_quat. I doubt that this is your problem...

Maybe too high i-gains?

On Mon, Aug 5, 2013 at 6:06 PM, Eduardo lavratti <address@hidden> wrote:

Hi Felix, yesterday a made 3 flights.

The first flight i test the altitude/position hold. It work almost perfect. Need tunning.
The second flight i test the navigation. Almost perfect. I think the PPZ have only one problem in NAV mode. The rotorcraft overshot the waypoint's by some meter and back.

On the 3rd flight i put the quad in position/alt hold for some minutes and then i do full YAW command.

The rotorcraft start to YAWing in high speed.
When i release the stick the quad try to stop yaw and start to fly wooble and do a flip and crash.

I not sure if its due to battery drop voltage or stabilization problem.
I am using very old baterry.

do you think this push can help is the problem if its caused by stabilization problem ?

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Date: Mon, 5 Aug 2013 16:11:05 +0200
From: address@hidden
To: address@hidden
Subject: [Paparazzi-devel] stabilization int_quat reference scaling fixes

Hi all,

I just pushed a fix to master that corrects the scaling of the attitude reference of the stabilization int_quat subsystem.

https://github.com/paparazzi/paparazzi/issues/493

For end users that means it is not so sluggish on RC input anymore and you should get a snappy reference.

CAUTION! Test fly carefully, you might need to lower the gains and/or reference parameters if you tuned them up to get faster response.

Cheers, Felix

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