Sending yaw control command through asctec_hl_interface.

[inkyusa]

Hello,

I have a question regarding on sending yaw control command through asctec_hl_interface.

Keyboard node provides asctec_hl_comm/mav_ctrl type command to HLP when an user types keyboard.

I could manage to control x,y and z by sending control command but no response for yaw command.

I have tested "ctrl_test" application to give a command Firefly with the following command.

./ctrl_test ctrl acc 0 0 0 0.05

It works for x, y, z but no response for yaw command as well.

Does this relate to yaw_dead_zone which was discussed the thread?

http://asctec-users.986163.n3.nabble.com/Asctec-autopilot-CTRL-INPUT-yaw-response-td2862233.html

Regards.

[markusachtelik]

yes, that might relate to the deadzone discussed in the link. Your input is quite low, the command sent to the LLP is computed as follows: cmd=anglular_velocity[deg]*1000/k_stick_yaw . k_stick_yaw is 120 by default, i.e. your input makes 24, which might be in the deadband. If you set it to ~45°/s (0.8) , you should be safe for testing.

[inkyusa]

Thank you Markus

Is there anyway to change or read yaw_dead_zone parameters using AscTec_AutoPilot_Control_UNI_2012_V1.65?

It seems "Flight Parameter Menu" was disappeared that version.

Regards.

[markusachtelik]

I haven't used it for a while -- doesn't it appear with the shift key pressed while clicking on the menus?

[inkyusa]

I can find the menu with "Shift key".

Thanks.

[rocklinsuv]

Hi Markus,

Speaking of the deadzone in Yaw control, if I need to implement a PD controller for yaw control, is it necessary to set the deadzone value to 0? Otherwise the vehicle is always oscillating around the set point no matter what values of Kp and Kd I choose. If I do so, is there any disadvantage when I'm using manual control? Many thanks.

Best, Lyn

[markusachtelik]

Yes, you should set the deadzone to zero. Just make sure the RC is correctly trimmed when piloting manually. I couldn't notice much difference when piloting.