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 #90 (comment)

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 #90 (comment)

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.

…

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[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 #90 (comment) come from the actual log files produced from the run in the screenshot above.