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Gathiyo / arducopter

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AC 2.4.2 tests report: A violent pitch back like a horse at fast speed and drift of the stick neutral after a while #365

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
Hello AC Dev Team,

Today, I have done some high speed flights translations with my F450 and AC 
v2.4.2 xp2 and I got the same problem as some other v2.4 testers in the forum 
with the AC v2.4.1. As long as you I push the stick forward, the pitch of the 
flight is ok, but if I release the stick to neutral, the quad pitch back 
violently like a horse and it need some time to be quiet again in stabilize, 
this is really disturbing here... I suspect here a problem in the DCM PIDs...

I have tried to replicate this in HIL mode simulation on AeroSIM and this not 
occurs... In cool flight mode, the loiter and the stabilize mode are perfect... 
I got also a drift on my roll/pitch stick after few minutes of flight. I need 
restart the APM to retrieve my neutral (not replicable on the HIL sim)

Another point about the WP_RADIUS, you may check this by yourself:
in the config file the WP_RADIUS_DEFAULT  is set to 1 (#define 
WP_RADIUS_DEFAULT     1)
then if you do a setup/reset, you will find in the mission planner that the 
WP_RADIUS begins 100... does it is normal ?, if you do a flight plan with this 
radius, the nav is not very accurate and the RTL too, you need to set again 
WP_RADIUS to 1 in the MP to find an accurate navigation on the track...

Below my tested PID.
Regards, Jean-Louis

Original issue reported on code.google.com by ellison....@gmail.com on 26 Feb 2012 at 7:06

Attachments:

GoogleCodeExporter commented 8 years ago

Original comment by ellison....@gmail.com on 26 Feb 2012 at 7:06

GoogleCodeExporter commented 8 years ago 
This looks like DCM dirt correction being fooled by linear acceleration. I am 
working with Doug to get a public function to disable it from the flight 
controller when doing maneuvers like these. 
Should be relatively straight forward.
Jason

Original comment by jasonshort on 26 Feb 2012 at 7:09

GoogleCodeExporter commented 8 years ago 
I have not seen this problem in recent SW 2.9 so guess it's solved

Original comment by Benny.Si...@gmail.com on 20 Jan 2013 at 10:45

GoogleCodeExporter commented 8 years ago 
Issue closed. 
If you find this is an error please report it in the new issues list
https://github.com/diydrones/ardupilot/issues?labels=ArduCopter&page=1&state=ope
n

Original comment by Benny.Si...@gmail.com on 20 Jan 2013 at 10:46