Development discussion of TauLabs software such as flight controllers, sensors, radios and speed controllers.

Altitude hold refinement

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peabody124

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Re: Altitude hold refinement

by peabody124 » Tue Mar 25, 2014 10:45 pm

Haha. I love that scene where you crash in the inside of that blind and altitude hold recovers you outside of it!

I also really liked what you said on IRC:

I lost video just before that first dust up and didn't actually see the crash through the goggles. I tried to fly through a known video blackout but managed to loose too much altitude before the video came back. I went from static to a dirt covered lens, small surprise!
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Oso Grande

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Re: Altitude hold refinement

by Oso Grande » Wed Mar 26, 2014 12:28 am

Exactly! If I had the pitch max degrees adjusted right, I never would have hit the ground in the first place. But I tried to race through the blind spot and descended too much.
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Re: Altitude hold refinement

by Oso Grande » Mon Apr 07, 2014 9:26 pm

Tested some new code from Peabody this morning. It includes a Altitude Comp Percentage that's adjustable. Default is 100%, for this test I upped it to 150%. This did help it hold altitude better in FFF. I'll be testing it with 175% and 200% next to see if it improves further or if there is a detriment to it being too high.

Here's a video with some notes along the way. I usually have the expo set at 20% and max rate at 6m/s, unfortunately I didn't reset those and in the video its set at 40% expo and 4m/s. This makes it harder to find 50% throttle as the stick is much softer in the middle.

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Danveal

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Re: Altitude hold refinement

by Danveal » Mon Apr 14, 2014 11:57 am

I tried AH with the last next and flyingf3 ( complementary + ins ) , but I could not make it work well
With the throttle stick in the center, the quad only for a few seconds kept the height. Then down suddenly.I had to continually act on the stick.
There is an explanation about the AH parameters, Position Kp, velocity, etc?


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Re: Altitude hold refinement

by peabody124 » Mon Apr 14, 2014 12:00 pm

Do you have the baro covered? Oh, and is this INSOutdoor or complementary?
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Re: Altitude hold refinement

by Danveal » Mon Apr 14, 2014 12:07 pm

Yes, I covered it with cell foam
Attitude: complementary, navigation: INS
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Re: Altitude hold refinement

by peabody124 » Mon Apr 14, 2014 1:50 pm

I'd suggest trying a different type of foam first. That's what it looks most like to me. Also try complementary / raw to compare.

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Re: Altitude hold refinement

by Oso Grande » Mon Apr 14, 2014 2:13 pm

Agreed, I'd try a different foam to start. Also the initial drop when you first click AH on, if your quad doesn't hover at 50% throttle normally it will rise or lower since you won't be at 50% throttle in the first seconds after switching. Example: if your quad hovers at 40% throttle in Attitude mode, when you switch to AH it will drop until you move the throttle to 50%.
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Re: Altitude hold refinement

by Danveal » Mon Apr 14, 2014 2:53 pm

Ok I'll try another type of foam and raw. My quad hover at near 50% throttle in attitude mode, but I think it is slightly bigger than your on which you do the test. It is also powered at 4s. In AH Generally tends to fall, but it also has erratic movements upward
Cheers
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Re: Altitude hold refinement

by peabody124 » Mon Apr 14, 2014 8:53 pm

Also I know vibrations can make a big difference. I have one quad I just cannot get ad tight ad the two other ones. The bias towards down might be related to the ins versus raw.

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