Stabilize Mode/Loiter do not work

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What steps will reproduce the problem?
1.With the default PID-Values for 0.4/0.6 for rudder/elevator no visible 
reactions when tilting the plane. Setting them to 5 the reaction is correct, 
but a bit sluggish. With these Values for the PID gains the zero of the rudders 
are different in different flight modes.
2. When switching to loiter mode the trottle goes to zero. 
3. When switching to the AUTO mode the zero of the rudders change, too.

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

Physically the system seems sound. All LEDs react as expected. GPS-Lock is 
attained within about one minute.

What version of the product are you using? On what operating system?

APM_Beta1.0, Win Vista

Please provide any additional information below.

May be the IMU ist defect. I should know the expected values of the Gyro and 
IMU tests.

Original issue reported on code.google.com by terence....@gmail.com on 8 Oct 2010 at 6:36

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Did you run the IMU test from the Command line?

Original comment by jasonshort on 8 Oct 2010 at 10:10

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yes I did run the IMU tes, the numbers are relatively small, they range from 
about -12 to 12, the tilting is clearly reflected. I put the PID gains to 4 for 
rudder and elevon, then the stabilization is clearly seen, but a bit sluggish, 
about 5 s for a compensation.

The small numbers form the Imu-Test seem suspicious. What is the expected range?

Original comment by terence....@gmail.com on 9 Oct 2010 at 7:21

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I just went to fly again. default PID-Values for 0.4/0.6 for rudder/elevator to 
0.8 and 0.9 (4/4 were too much). Stabilize seems to work (was a bit hard to 
see, much wind).

But folloing problem persits: Throttle goes to zero when in STABILIZE or in 
AUTOMATIC mode. I first thought that the absulute height has to be input in the 
flight planner. But meters over terrain are ok.

Original comment by terence....@gmail.com on 9 Oct 2010 at 6:16

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Just controlled the switch, it is set correctly.

Original comment by terence....@gmail.com on 9 Oct 2010 at 6:32

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Second flight, throttle does not work again.

Read the logs:

GPS:578429000,1,0,47.3749961,8.6845607,540.97,540.97,18.22,232.90
GPS:578429000,1,0,47.3749961,8.6845607,540.97,540.97,18.22,232.90
GPS:578429000,1,0,47.3749961,8.6845607,540.97,540.97,18.22,232.90
GPS:578429250,1,0,47.3749618,8.6845169,540.63,540.63,18.65,228.77

What is the meaning?
578429250 Timestamp?
47.3749618 Latitude
8.6845169 Longitude
540.63 m asl

18.65,228.77???

Original comment by terence....@gmail.com on 10 Oct 2010 at 7:40

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Try to uncommenmt following lines in APM_config.h

// Throttle control
//#define THROTTLE_MIN          0
//#define THROTTLE_CRUISE       45
//#define THROTTLE_MAX          75

Might be this helps

Original comment by terence....@gmail.com on 10 Oct 2010 at 8:29

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The last two values in the gps message are speed (m/s) and ground course 
(degrees)

Has anyone verified any of these issues?  Looks like a problem specific to 
Terence' hardware or setup.  

Terence, you should post in the DIYDrones forum for help.

Original comment by dewei...@gmail.com on 12 Oct 2010 at 2:35

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Thanks

I tried to fly above the first waypoint, change to AUTOMATIC, and follow the 
wayponts just sailing. As there was much wind no effect was seen.

The problem with the throttle has not been solved by uncommenting the throttle 
control.

Original comment by terence....@gmail.com on 12 Oct 2010 at 3:29

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When submitting issues, it will be easier to track and address them if they are 
specified as narrowly as possible.  In this case, it looks like you may have 4 
different issues:
1) Control surfaces do not visibly deflect in response to tilting the plane in 
Stabilize mode on the ground
2) Throttle goes to 0 in loiter mode (check to see if this might be similar to 
Issue 184)
3) Switching into Auto mode causes unexpected rudder deflection
4) Plane does not follow waypoints in Auto mode

To get the best response, submit each of these items separately with 
instructions you expect would allow someone who doesn't have access to your 
setup to duplicate the problem.  Doing this will allow us to duplicate and 
address the problems more effectively.  It sounds like 1) is resolved per 
comment 3.  I think we'll need more description of the rudder deflection issue 
as this may be as-designed behavior; there are feed-forward gains that mix roll 
into rudder when in Auto mode, so the plane might have just been applying both 
rudder and ailerons to turn towards a desired waypoint.  We'll also need more 
info on not following waypoints.  What does it do instead?  Could the 
navigation gains just not be set high enough?

Original comment by bjpcalt...@gmail.com on 12 Oct 2010 at 11:27

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I don't think any of the developers who have looked at this problem can 
reproduce it as described; we'll address the individual issues in the specific 
Issue topics.

Original comment by bjpcalt...@gmail.com on 15 Oct 2010 at 7:27

• Changed state: CannotReproduce