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Control surfaces do not visibly deflect in response to tilting the plane in Stabilize mode on the ground #187

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
What steps will reproduce the problem?
1. Use beta Version of APM
2. Change to STABILIZE mode
3. With the default Gains for rudder/elevator (0.4, 0.6) no visible change of 
rudder/elevator

What is the expected output? What do you see instead?
Expected: visible counter-movements, instead only minimal movements. When I set 
the gains to 4 the counter movements are visible. But they are rather sluggish 
(when I use a normal gyro, the movements follow immediatly to the movement of 
the plane).

What version of the product are you using? On what operating system?
Beta Version from zip. Win Vista.

Please provide any additional information below.

Original issue reported on code.google.com by terence....@gmail.com on 13 Oct 2010 at 2:55

GoogleCodeExporter commented 8 years ago 
Is this still a problem with the latest trunk version?

Original comment by bjpcalt...@gmail.com on 15 Oct 2010 at 7:11

GoogleCodeExporter commented 8 years ago 
Yes, but the primary issue is probably, that throttle has no output in radio 
test. See err. no. 193.

Original comment by terence....@gmail.com on 15 Oct 2010 at 8:53

GoogleCodeExporter commented 8 years ago 
Why would the throttle having no output affect the size and speed of the 
control surface deflections?

Original comment by bjpcalt...@gmail.com on 15 Oct 2010 at 8:56

GoogleCodeExporter commented 8 years ago 
Surface deflections probably are caused by the big values for gains for 
rudder/elevator (4 insead of 0.4/0.6). With 0.4/0.6 I had no visible reactions 
in STABILIZE mode.

Original comment by terence....@gmail.com on 15 Oct 2010 at 9:13

GoogleCodeExporter commented 8 years ago 
I'm still not sure why the throttle having no output would probably be the 
primary issue in insufficient control movement.

How far are you rotating the plane when you try to observe movement in the 
ailerons?  I roll my plane about 60 degrees to make sure I can easily see the 
reactions with standard gains.

Original comment by bjpcalt...@gmail.com on 15 Oct 2010 at 9:29

GoogleCodeExporter commented 8 years ago 
with the gains 0.4/0.6 there is nothing to see with a tilt of 60 degrees. With 
values of 4 it is very clearly seen, but sluggish, the movement takes about 5 
seconds. It is much more slower as I am used from other gyros.

Original comment by terence....@gmail.com on 15 Oct 2010 at 10:12

GoogleCodeExporter commented 8 years ago 
I use a new APM_config.h (see issue 188). I doubled the predefined gains. Now 
some reactions when tilting the airplane are visible. The reactions still are 
sluggish.

Original comment by terence....@gmail.com on 17 Oct 2010 at 9:25

GoogleCodeExporter commented 8 years ago 
See the reactions:

http://www.youtube.com/watch?v=DTaOLUSYXLs

Original comment by terence....@gmail.com on 17 Oct 2010 at 10:13

GoogleCodeExporter commented 8 years ago 
Howto pepare ArduPilot Mega:

http://www.youtube.com/watch?v=xYGzhogZf-w

Original comment by terence....@gmail.com on 17 Oct 2010 at 4:46

GoogleCodeExporter commented 8 years ago 
The control movements in your video look very slow.  Your servos should move 
very quickly when you pitch or roll the plane.  Looks like you have all I gain 
instead of P perhaps.

At any rate I am not seeing this as a bug, but some issue with your personal 
setup.

Original comment by dewei...@gmail.com on 20 Oct 2010 at 3:17

GoogleCodeExporter commented 8 years ago 
Yes, I thougt so too, as with other gyros the reactions are very fast. I just 
increased the P gains (by AMP Planner). With the default gains (after a reset) 
no movements can be seen. 

When I run the APM-ADC test there are reactions, but in a very narrow range, 
too. The gyro test with the beta version shows similar results as the APM-ADC 
test. 

http://www.youtube.com/watch?v=QRa_YUz4o7w

As I use the official beta version with an own APM_config.h (which does not 
contain any settings for the IMU) I think that there is a physical error in the 
Gyro/Accelerometer system, although judging from the LEDs the system seems to 
be sound.

I did a firmware upgrade at the end of August.

I really do not know how to proceed further.

Original comment by terence....@gmail.com on 20 Oct 2010 at 6:30