Re: [Paparazzi-devel] Multirotor Flights

[Sergey Krukowski]

Hi Kadir!

I'm using the GUIDANCE_H_APPROX_FORCE_BY_THRUST = 1, the idea of it is  
correcting the horizontal commands depending on thrust command. And it  
works, horizontal acceleration from hovering and horizontal speed become  
smoother. I would recommend at least to try it. In worst case you will  
just see no difference at all. Also change the default  
GUIDANCE_H_THRUST_CMD_FILTER to a value in range of 30 - 50.
I would also recommend to use HFF as well.
Regarding vertical stability - try to increase GUIDANCE_V_HOVER_KP and  
GUIDANCE_V_HOVER_KD values (higher PID controller values), also helps  
decreasing GUIDANCE_V_ADAPT_NOISE_FACTOR value to about 0.7 - 0.8 (let the  
adaptive filter to adopt faster to changing hover level thrust, which is  
especially the case in windy conditions).

Best Regards,
Sergey

> Hi Loic,
>
> I see 3-4 meters of oscillations , yes i protect the whole imu with a  
> foam
> , in laboratory i see the altitude value from the ins seems correct with
> error less than 30 -40 cm. Yesterday the altitude hold was great, and the
> copter was climbing/decreasing regularly and stopping at the desired
> altitude regulary, i will test it again tomorrow. By the way do you have
> any idea about using horizontal ins 'HFF' and '
> GUIDANCE_H_APPROX_FORCE_BY_THRUST' ? They are closed in my project right
> now, i m not sure about using them ..
>
> Thanks
>
> Kadir
>
>
> 2014-02-27 20:05 GMT+02:00 Loic Drumettaz <address@hidden>:
>
> > Hi Kadir,
> >
> > What amplitude are the altitude oscillations with wind? They should be
> > less than 2 meters.
> > Did you protect the barometer with (permeable) foam?
> > Good luck with your next flights.
> > Loic
> > Le 27 févr. 2014 14:26, "Kadir ÇİMENCİ" <address@hidden> a  
> > écrit :
> >
> > Hello everyone,
> > > Yesterday i have  successfull flights with vertical hover and  rc climb
> > > modes in vertical modes. This morning the weather was windy a lot and  
> > > i see
> > > great oscillations in vertical around the setpoint with the same  
> > > vertical
> > > p,i,d parameters, i guess it can be caused by the pressure changes with
> > > strong wind, is this idea true ?
> > >
> > > Secondly, i have flights with horizontal hover today they were really
> > > successful. My quad accomplished to stay at a point with errors of +/-1
> > > meters approximately, against a little wind. Tomorrow i am planning to  
> > > fly
> > > with navigation mode but i want to ask two questions.
> > > 1) Is it recommended to use 'GUIDANCE_H_APPROX_FORCE_BY_THRUST ' ? The
> > > idea behind of this seems very successful to me..
> > > 2) Is it recommended to use 'HFF' horizontal ins ? Is  there anyone who
> > > have flights with this filter? Right now i am using only 'VFF'  at INS
> > > subsystem.
> > >
> > > Frame : Quad - Cross
> > > Board : Lisa/m v2.0
> > > Software : master
> > >
> > > Parameters i use ;
> > > Vertical P = 300
> > > Vertical D = 30
> > > Vertical I  = 20
> > >
> > > Horizontal P = 50
> > > Horizontal D = 50
> > > Horizontal I  = 20
> > > Horizantal A = 10
> > > Ref_max_speed = 3 m/s
> > > Ref_max_accel  = 2m/s^2
> > > Max bank = 45 degree
> > >
> > >
> > >
> > >
> > > 2014-02-14 19:18 GMT+02:00 Loic Drumettaz <address@hidden>:
> > >
> > > > Hi Kadir,
> > > >
> > > > The next step for you is then to be able to switch to hover mode. For
> > > > this you need to calibrate the magnetometer and define the local  
> > > > magnetic
> > > > field in your conf.
> > > > Also, before the first hover you should check that the magnetometer
> > > > measurements are not corrupted with motors current magnetic field.
> > > > Actually these current are mainly generated by power wires, which  
> > > > must be
> > > > twisted to reduce the magnetic field generated. Also, the  
> > > > magnetometers can
> > > > be calibrated to compensate this. See mag current calibration on the  
> > > > wiki.
> > > >
> > > > After the first successful hover, it should be quite easy to switch to
> > > > nav using example airframe configs and flight plans.
> > > >
> > > > For the nav, first you can take off in rc mode, and tune the  
> > > > horizontal
> > > > guidance loops and reference generator by moving from a waypoint to  
> > > > another.
> > > > Then, the vertical nav (loops and reference generator) can be tuned by
> > > > moving the waypoint altitude.
> > > > This is well documented on the wiki, maybe a step by step tuning page
> > > > could be added...
> > > > After this, you should be able to perform autonomous take-off and
> > > > landings.
> > > > Once there, do not hesitate to ask for more tips.
> > > > Loic
> > > >  Le 14 févr. 2014 07:29, "Kadir ÇİMENCİ" <address@hidden> a
> > > > écrit :
> > > >
> > > > Hi Loic,
> > > > > At this moment, i have flights with manual mode only with  
> > > > > stabilization
> > > > > blocks they were all successful. And also i have tested the vertical
> > > > > navigational controller for altitude hold and climb modes. They were
> > > > > successful too. But i have no chance to test hovering and navigating
> > > > > horizontally. I am expecting the multirotor to fly between waypoints  
> > > > > with
> > > > > straight lines and hover at some horizontal points. I had achieved  
> > > > > that
> > > > > kinds of flights with Apm 2.5  4-5 months ago. I hope i can make it  
> > > > > with
> > > > > paparazzi too because i believe paparazzi project have a stronger  
> > > > > structure
> > > > > than the other open source projects. I am looking for someone who had
> > > > > achieved flights like this to encourage me :)  Thanks for the  
> > > > > answer..
> > > > >
> > > > > Kadir
> > > > >
> > > > >
> > > > > 2014-02-13 21:22 GMT+02:00 Noah Martin <address@hidden>:
> > > > >
> > > > > > Hi Loïc ,
> > > > > > Il faut qu il fasse une recette aussi.
> > > > > > On peut lui envoyer un log d une mission photogrammétrie  avec les
> > > > > > coordonnées des waypoints associés ainisi que le bloc.
> > > > > > Walid
> > > > > > Le 13 févr. 2014 16:31, "Kadir ÇİMENCİ" <address@hidden> a
> > > > > > écrit :
> > > > > >
> > > > > > > Hi ,
> > > > > > > I need some help :) Im looking for someone to share experience with
> > > > > > > multirotor flights with paparazzi . It will be great if  i can  
> > > > > > > find a
> > > > > > > flight data/log with waypoints autonomously. Thanks for any help in
> > > > > > > advance..
> > > > > > >
> > > > > > > Kadir
> > > > > > >
> > > > > > >
> > > > > > > 2014-02-12 14:54 GMT+02:00 Kadir ÇİMENCİ <address@hidden>:
> > > > > > >
> > > > > > > > Hello everyone,
> > > > > > > >
> > > > > > > > I have noticed that the feedbacks about the flights with  
> > > > > > > > multirotor
> > > > > > > > frames are so weak. I cannot find any flight log/video/kml etc.  
> > > > > > > > except for
> > > > > > > > some ardrone flights with paparazzi on youtube. I am preparing to  
> > > > > > > > my first
> > > > > > > > flight with Paparazzi on LisaM v2.0 with a quadrotor but can't  
> > > > > > > > find any
> > > > > > > > refernce flight. Can you please share with any flight experience  
> > > > > > > > with
> > > > > > > > multirotors?
> > > > > > > >
> > > > > > > > Thanks ,
> > > > > > > > Kadir
> > > > > > >
> > > > > > >
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