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Guitarmath / arducopter

Automatically exported from code.google.com/p/arducopter
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changing Yaw causes slight climb in altitude #338

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
What steps will reproduce the problem?
1. load any version of the arducopter code (i.e. 2.3)
2. switch to stabilize mode
3. use the rudder to yaw the quad 90 degrees to the left or right

What is the expected output? What do you see instead?

The quad should rotate but altitude should stay level.  Instead the quad climbs 
a few centimeters (maybe 10cm).  It's likely caused by the difference in the 
time it takes for motors to speed up vs slow down.  They tend to speed up 
faster than they slow down..so when yawing, two engines speed up and two slow 
down..but because of the difference in timing you end up with a slight climb.

Original issue reported on code.google.com by rmackay...@gmail.com on 10 Feb 2012 at 3:21

GoogleCodeExporter commented 8 years ago 
i experience the same with a hexacopter

Original comment by dpba...@gmail.com on 19 Jun 2012 at 6:41

GoogleCodeExporter commented 8 years ago 
I too experience this on a hexacopter...

Original comment by whoisthe...@hotmail.com on 31 Oct 2012 at 5:09

GoogleCodeExporter commented 8 years ago 
Yes, I've eventually found the cause and it's mostly resolved in 2.8.1.  Are 
you using 2.8.1 or something earlier?

The cause by the way is that when you yaw, 3 motors increase in power, and 3 
decrease.  But if you have an overpowered hexacopter then the 3 that are 
decreasing hit the bottom of their limit and can't be decreased anymore.  This 
leads to an overall increase in power (i.e. 3 increase in speed, the other 3 
don't decrease much) and the hexa copter goes up.

Original comment by rmackay...@gmail.com on 31 Oct 2012 at 6:21

GoogleCodeExporter commented 8 years ago 
Will close it because something is done in 2.8.1 and no feedback after RM 
mention that release

Original comment by Benny.Si...@gmail.com on 20 Jan 2013 at 11:47

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 11:47