Depth rate off in YoYo Mission.

[arjo129]

Regarding the yoyo circle test mission issue, here's a comparison of 8 minutes of simulation time in the MBARI sim vs the log you plotted above. Seems like depth-rate is off in the Ign sim for whatever reason. At +/-20 deg pitch, LRAUV should complete a 18 meter Yo-Yo leg in roughly 1 minute.

Originally posted by @braanan in https://github.com/osrf/lrauv/issues/90#issuecomment-942572893

Some potential causes could be:

• Incorrect Hydrodynamics when pitched downwards leads to slow descent?

[arjo129]

Seems like our pitch angle is not responding fast enough, in our simulations it could be possible that the fins aren't providing sufficient control authority.

[mabelzhang]

Visually, it looks like parallel circles with no pitch:

I originally posted in https://github.com/osrf/lrauv/pull/90#issuecomment-940621042

However, this seems to be intermittent. I ran the same thing 12 times and was only able to reproduce this 2-3 times, and I couldn't find the pattern to reproduce it. So just taking note.

[arjo129]

I believe this is a different problem. In my case, there is pitching but its not pitching fast enough.

[chapulina]

Is yoyo meant to pitch entirely just with the elevator, and not use the mass shifter at all?

[arjo129]

Yes that is correct.

On Tue, 26 Oct 2021, 12:59 Louise Poubel, @.***> wrote:

Is yoyo meant to pitch entirely just with the elevator, and not use the mass shifter at all?

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/osrf/lrauv/issues/142#issuecomment-951560937, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAEEMQE7F3UZOZPDRXDM353UIYYTPANCNFSM5GFPG4IA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

[mabelzhang]

I believe this is a different problem. In my case, there is pitching but its not pitching fast enough.

So the plots in the original post that you quoted from https://github.com/osrf/lrauv/pull/90#issuecomment-942572893 come from the actual log files produced from the run in the screenshot above.