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coby7016 / arducopter

Automatically exported from code.google.com/p/arducopter
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Yaw does not peform correctly #217

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
ACM-TRIFRAME,

Latest code,
Updated the latest code and saw the copter always twisted to right.
Tested on hand and see that the yaw could not run correctly when I tried to 
twist it to right.
Thanks,
Duy

Original issue reported on code.google.com by duypha...@gmail.com on 6 Aug 2011 at 12:00

GoogleCodeExporter commented 9 years ago 
I've seen the same behavior. It didnt seem to happen on AC1.
Copter seems to drift about 30-30degrees to the right and stay there - like 
heading hold.

Also - occasionally (and this happend to me on AC1 too) I'd find I'd lose yaw 
control all together. rocking pitch and roll seemed to 'wake' yaw again and I'd 
get it back. 
Same fix applied for another issue yaw related issue - spinning. During most 
flights I'd make a yaw correction and then see the quad continue to spin. 

All points to a radio issue (I AM using the super cheap turnigy 9X with a FRsky 
module). Havent been able to verify this yet though. May be a bug.

Original comment by dion.bet...@gmail.com on 8 Aug 2011 at 1:32

GoogleCodeExporter commented 9 years ago 
I have experienced the same as the gentleman in Comment1.

I have good yaw control for indeterminate period of time and then without 
warning the yaw would stop responding and one of two things would happen: 1 - 
the quad would remain locked in its current direction for a few seconds (during 
which I normally prepare for the worst by returning the quad to the takeoff 
area - hence the large pitch/roll movements) and 2 - the quad would spin about 
it's Z-axis at a lazy rate counter-clockwise. It would spin for about a full 
360 degrees in about 3 - 4 seconds.

What I have noticed is that the arm/disarm procedure from my Mode 1 Hitec radio 
reacts strangely mostly - pushing full right rudder would not always arm the 
CPU - blinking green would remain. 2nd or 3rd attempt would get solid green 
indication.
After latest crash due to slow ccw spinning I checked radio raw values and 
found my rudder input value to rest at 1520 - so I've sub-trimmed (radio) this 
to 1498 in case it could have been the culprit, although I doubt it as the quad 
would hover with a rather solid direction lock.

Thanks everyone for helping

Original comment by jaques.v...@gmail.com on 9 Aug 2011 at 8:57

GoogleCodeExporter commented 9 years ago 
Due to some experimental setting, I saw that this happen on some combination of 
flight mode. I donot have much time to look into it.
Thanks,
Duy

Original comment by duypha...@gmail.com on 19 Aug 2011 at 1:45

GoogleCodeExporter commented 9 years ago

Original comment by jasonshort on 23 Aug 2011 at 9:05

GoogleCodeExporter commented 9 years ago 
I had the same issue as people mentioned above. My quadcopter would yaw to one 
side sometimes. The intensity would vary, sometimes very small sometimes a lot. 
The yaw centering issue was not there as i would be having problems with 
arming/disarming as well. Arming and disarming requires 100% yaw to right and 
left respectively. My quadcopter would yaw on one side, if input applied to 
counter the yaw it would slow the rate but not completely counter it. 

The problem was that APM (since it is sticking on velcro) was not perfectly in 
the center of the two arms i.e. X configuration. I adjusted it and the problem 
was resolved.

Original comment by unluckyp...@gmail.com on 2 Jan 2013 at 12:14