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Hover with USE_SPEED_REF #716

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WalyACHOD opened this issue May 13, 2014 · 7 comments · Fixed by #717
Closed

Hover with USE_SPEED_REF #716

WalyACHOD opened this issue May 13, 2014 · 7 comments · Fixed by #717
Milestone
v5.2

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@WalyACHOD
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Hi,
In HOVER mode with USE_SPEED_REF to change speed by the stick, I get wrong behavior when I put the stick to zero after translation: braking immedialtly and we have an important pitch angle.
I analyzed the log, and I see that the problem is caused by hover speed ref generator ( gh_update_ref_from_speed_sp() ).
See please:
pb_freinage
We can see that in translation the ref speed is generated correctly but in braking, the ref speed reach quickly to zero.
I tuned GUIDANCE_H_REF_TAU but I not resolved the bug.
Have you an idea with this bug?
Thanks.
@flixr
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flixr commented May 13, 2014

Which exact paparazzi version are you using? Please post the output of ./paparazzi_version

@WalyACHOD
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Hi Félix,
My branch is merged with master branch 4month ago. The last commit is:
commit d32d171
Author: Felix Ruess felix.ruess@gmail.com
Date: Mon Dec 30 22:34:23 2013 +0100
[imu] drotek_10dof_v2: more defaults according to PERIODIC_FREQUENCY

@flixr
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flixr commented May 13, 2014

Could you please update to latest master first and check again?
Also note that #702 is fixed in master.
Did you plot the speed setpoint against the ref as well?

flixr added a commit that referenced this issue May 13, 2014
@flixr
[rotorcraft] guidance_h speed ref saturation fix
9bcccc6 
Bound ref to max accel along reference vector.
If angle can't be computed, simply set both axes to max magnitude instead of zero.

Should (tm) fix #716
@flixr flixr mentioned this issue May 13, 2014
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@flixr
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flixr commented May 13, 2014

Could you please test the proposed fix?

@WalyACHOD
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Thank you Felix for your reactivity,
I'll let you know about a flight results.

@flixr
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flixr commented May 19, 2014

@WalyACHOD have you had a chance to test this?
Seems to work as expected in simulation now.

@WalyACHOD
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Hi Félix,
Sory, I'm busy this week. I'll test your proposed fix next week.

@flixr flixr added this to the v5.2 milestone May 21, 2014
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[rotorcraft] guidance_h speed ref saturation fix paparazzi/paparazzi
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@flixr @WalyACHOD