[Paparazzi-devel] yaw from ahrs

[孙茂峰]

Hi Everyone

I was tuning the PID values for Attitude follow the steps from this post: http://lists.paparazziuav.org/Copter-tuning-setup-cookbook-step-by-step-td14386.html

I fixed the roll axis on a rope tied through two walls to make the helacopter can only pitch.

But i got the sp_psi and ref_psi as the craft is not heading to the north.

I tried to disable the magnetometer but it doesn't work, the ahrs ask for gps heading and still give yaw cmd.

Is there any way to avoid the yaw output.

Best,

smf

hela-copter:

lisa_m_2.0+asprin_v2.2

stabilization: int_quat

ahrs: int_cmpl_quat