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Guitarmath / arducopter

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THROTTLE_TRIM error causing unpredictable behaviour #396

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
Arducoper ACM2, v2.5
First flew with all defaults, switched to ALT_HOLD - quad dropped rapidly 
striking the ground. On Randy's recommendation I changed THROTTLE_TRIM to 450.

Things were better, 24 hours later and after a few flights value was at 498, 24 
hours later had a quick flight during which I switched to ALT_HOLD and the quad 
shot upwards and collided with some branches of a tree! Repeated in a more open 
area, quad shot up to about 8m high before I switched back and brought it down. 
Checked the THROTTLE_TRIM value - it is now at 533!

Expectation: ALT_HOLD to "hold - the - current - altitude - irrespective"!

Original issue reported on code.google.com by graham.d...@gmail.com on 20 Mar 2012 at 9:51

GoogleCodeExporter commented 8 years ago 
Also seeing quad shoot upwards on activation of ALT_HOLD. APM2, V2.5. 
TRIM_THROTTLE now at 683

Original comment by James.Fr...@gmail.com on 20 Mar 2012 at 6:40

GoogleCodeExporter commented 8 years ago 
Same Quad hardware that worked OK with 2.4.1.
With ver 2.5 when mode switched to ALT_HOLD or RTL even after several flight 
and 
THROTTLE_TRIM has incremented to 528 the quad still drops to ground

Original comment by david.le...@slmember.on.net on 20 Mar 2012 at 11:50

GoogleCodeExporter commented 8 years ago 
Impossible to fix without logs. Thanks!
Jason

Original comment by jasonshort on 20 Mar 2012 at 11:54

GoogleCodeExporter commented 8 years ago 
log attached

Original comment by graham.d...@gmail.com on 21 Mar 2012 at 4:19

Attachments:

GoogleCodeExporter commented 8 years ago 
Will do some more testing this weekend to produce some fresh logs

Original comment by James.Fr...@gmail.com on 22 Mar 2012 at 6:38

GoogleCodeExporter commented 8 years ago 
@graham, your throttle_trim needs to be about 480.
One thing that points towards a bug in the code is that your throttle_cruise 
does not change one bit in the 1st 6000 lines of the log when you're flying 
around in stabilize mode.  The first time you switch into altitude hold it 
takes the default 350 but surely it should have moved a bit from this default 
by then.  This makes me think the automatic updating of the throttle cruise 
value while you're hovering in stabilize mode is just not working.
Thanks!

Original comment by rmackay...@gmail.com on 22 Mar 2012 at 4:07

GoogleCodeExporter commented 8 years ago 
This should be fixed in patch release 2.5.2.
Thanks for the logs!!

Original comment by rmackay...@gmail.com on 23 Mar 2012 at 3:39