Replies

                • Developer

                  Hi Edgar,

                  Let us know how you go.

                  Good luck.

                  • Leanoard,

                    I did a re-calibrate and it did seemed to help a little

                    I would like to to a compassmot but terminal is not working with 3.2/APM 2.6 (garbled data), i know you guys had to move the logs to the tabs, was compussmot moved too?  If so where is it now

                    [MAV 001:1] ArduCopter V3.2 (c8e0f3e1)

                    Thanks again...like always,

                    Ed

                  • Developer

                    Hi Edgar,

                    I would suggest recalibrating your compass and doing a compasmot.

                  • Leonard, I just raised the Pitch P Rate to match and increased the Stabilize P Rate a little and its better...but I have another issue, in GPS modes after staying in one spot for less than minute it starts to toilet bowl just trying to hover (POS_HOLD)

                    Any ideas on that?

          • I assume you mean of the drone, btw, thanks very much for looking at it, its really appreciated

            3702832277?profile=original

  • So earlier my quad just crashed during auto tune, I had it in alt hold was doing its thing then all of the sudden goes full throttle, I lose orientation, lower throttle and then hit RTL (atleast i think i did was happening pretty fast) and it crashes into the side of a house. It broke some siding off, (stupid carbon props wish I stuck to plastic)

    Can anyone tell me what happened here?

    It crashed into snow at the end which would have shorted my ESC and my power module, so it may explain if the voltage goes crazy at the end.

    2014-12-11 20-31-20.log

    https://storage.ning.com/topology/rest/1.0/file/get/3701891801?profile=original
    • Developer

      Hi Brandon,

      You had catastrophically bad GPS at the end of the flight (and to a lesser extent in the middle) which the EKF initially rejected, but after 10 seconds, the EKF gave up dead reckoning based just on the accelerometers and reset the position and velocity states back to the GPS (that had come back again).  Unfortunately this reset is also applied to the the vertical velocity, and the GPs vertical velocity at that time happened to be reading 60 m/s (ie crap).

      So this could turn out to be a bug/poor decision in the code. We are looking into it. I suspect we should be initialising it to a filtered baro rate or something.

      It is very hard to make these decisions reliably because each sensor falls over in different ways. GPS is great in the horizontal when it is working and ok in the vertical but when it fails, it fails spectacularly. The Accelerometers are pretty consistent all the time but suffer from noise and offset integration making them good for about 10 seconds without correction and baddly effected by attitude estimation errors. Then the baro can move up and down by a couple of meters from various aerodynamic effects and has a big delay.

      There is a good reason a high percentage of the dev's are bald!!!

      •  "GPS is great in the horizontal when it is working and ok in the vertical but when it fails, it fails spectacularly. The Accelerometers are pretty consistent all the time but suffer from noise and offset integration making them good for about 10 seconds without correction and baddly effected by attitude estimation errors. Then the baro can move up and down by a couple of meters from various aerodynamic effects and has a big delay."

        Thank you for the clear explanation!  And working on a solution.

        I've had no success using Sonar, moderate improvements using a Neo 8 GPS upgrade (Double the satellites, better triangulation from low position inputs), and hope to get a Lidar-Lite eventually.

        I want to master high speed terrain following at one meter (angle the sensor forward and down 45 degrees below horizon.)

        It is good to see people smarter than I am working on the same thing.

      • With the issues with the barometer and GPS, especially close to the ground, it seems like lidar or radar would be a more reliable solution for altitude measurements. I noticed that 3DR has a lidar coming that looks promising: https://store.3drobotics.com/products/lidar-lite 

      • Hm, I have been having bad luck with my GPS and that was actually a brand new unit in order to prevent any issues. I think it may have been because I had it to close to the telemetry radio this time. I shall try moving it to the back of the quad and try again.

        Thank you for getting to the bottom of this, that is something that I was definitely not capable of.

        Hopefully it was a one off thing.

        Was this the same issue that happened when someone flew indoors a month back? Hopefully tomorrow I can give auto tune a try again.

This reply was deleted.

Activity

DIY Robocars via Twitter
RT @a1k0n: Did I get rid of hand-tuned parameters? Yes. Am I still hand-tuning more parameters? Also yes. I have a few knobs to address the…
5 hours ago
DIY Robocars via Twitter
RT @a1k0n: I'm not going to spoil it, but (after charging the battery) this works way better than it has any right to. The car is now faste…
5 hours ago
DIY Robocars via Twitter
RT @a1k0n: Decided to just see what happens if I run the sim-trained neural net on the car, with some safety rails around max throttle slew…
10 hours ago
DIY Robocars via Twitter
Saturday
DIY Robocars via Twitter
RT @SmallpixelCar: @a1k0n @diyrobocars I learned from this. This is my speed profile. Looks like I am too conservative on the right side of…
Saturday
DIY Robocars via Twitter
RT @a1k0n: @SmallpixelCar @diyrobocars Dot color is speed; brighter is faster. Yeah, it has less room to explore in the tighter part, and t…
Saturday
DIY Robocars via Twitter
RT @a1k0n: I'm gonna try to do proper offline reinforcement learning for @diyrobocars and throw away all my manual parameter tuning for the…
Friday
DIY Robocars via Twitter
RT @circuitlaunch: DIY Robocars & Brazilian BBQ - Sat 10/1. Our track combines hairpin curves with an intersection for max danger. Take tha…
Thursday
DIY Robocars via Twitter
RT @SmallpixelCar: Had an great test today on @RAMS_RC_Club track. However the car starts to drift at 40mph. Some experts recommended to ch…
Sep 11
DIY Robocars via Twitter
RT @gclue_akira: 世界最速 チームtamiyaのaiカー https://t.co/1Qq2zOeftG
Sep 10
DIY Robocars via Twitter
RT @DanielChiaJH: Always a good time working on my @diyrobocars car at @circuitlaunch. Still got some work to do if I’m to beat @a1k0n howe…
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: My new speed profile for @RAMS_RC_Club track https://t.co/RtLb7TcgIJ
Sep 10
DIY Robocars via Twitter
RT @SmallpixelCar: Practiced at @RAMS_RC_Club today with my new @ARRMARC car https://t.co/AEu2hCx89T
Aug 28
DIY Robocars via Twitter
Aug 24
DIY Robocars via Twitter
RT @gclue_akira: 柏の葉で走行させてるjetracerの中身 #instantNeRF #jetracer https://t.co/giVvuE4hP7
Jul 4
DIY Robocars via Twitter
Cool web-based self-driving simulator. Click save when the AI does the right thing https://github.com/pncsoares/self-driving-car
Jul 4
More…