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Flew skyfun today had problems with IMU LOG enclosed

Posted by Trent on May 10, 2011 at 12:07am

well i flew it today with the APM on board. I have flew many delta wing models before so i wasn't too fussed about take off or flying it for that matter.
So my results:

Started APM on level ground, everything calibrated so all was good. GPS lock achieved.

Launch went smoothly, had about a 15kph head wind which helped her on her way.

Flipped switch to stabilise at about 50m up and roll was fine but it was pitching negatively towards the ground. Not a crazy pitch angle but once it started pitching down obviously it built up speed and just kept its line, flicked to manual and took over again. Gained altitude and flicked back to stabilise, same thing happened.
Landed the plane checked everything and realised that the mount i made out of foam had a slight negative pitch. Had my laptop with me so i quickly connected it up and tested IMU and gave a reading of.....P -2...... Removed the APM out of the foam and placed flat in skyfun itself and gave .......P 0......My question is when the plane is calibrating itself if the plane is level but the APM isn't does it just see -2 pitch as "level" flight or does it still see -2 as a decline (if that makes sense). Packed her up for the day as the wind was starting to gust quite strongly.

Plane flew great in manual mode couldn't be happier. Im adding the first 20-30 lines of the log as can be seen it starts as -3 so im assuming this is the major problem.

GROUND START -  2 commands in memory
CMD:0,16,0,10610,-346245460,1435760460,
CMD:1,16,10,10000,-346286560,1435766784,
CMD:2,16,10,10000,-346254400,1435806848,
ATT: -3, 0, 35997
GPS: 17674750, 1, 9, -34.6247140, 143.5759300, 68.9100, -0.0800, 0.0000, 6.0500
ATT: -2, 0, 35997
GPS: 17674750, 1, 9, -34.6247140, 143.5759300, 68.9100, -0.5000, 0.0000, 6.0500
ATT: -1, 0, 35997
GPS: 17674750, 1, 9, -34.6247140, 143.5759300, 68.9100, -0.7600, 0.0000, 6.0500
ATT: -2, 0, 35996
GPS: 17674750, 1, 9, -34.6247140, 143.5759300, 68.9100, -0.9300, 0.0000, 6.0500
ATT: -2, 0, 35995
GPS: 17674750, 1, 9, -34.6247140, 143.5759300, 68.9100, -0.7600, 0.0000, 6.0500
ATT: -2, -1, 35993
GPS: 17677500, 1, 9, -34.6247140, 143.5759300, 68.9000, -0.6700, 0.0000, 6.0500
ATT: -3, 0, 35991
GPS: 17677500, 1, 9, -34.6247140, 143.5759300, 68.9000, -0.4200, 0.0000, 6.0500
ATT: -3, -1, 35990
GPS: 17677500, 1, 9, -34.6247140, 143.5759300, 68.9000, -0.2500, 0.0000, 6.0500
ATT: -2, -1, 35991
GPS: 17677750, 1, 10, -34.6247140, 143.5759300, 68.9000, -0.1600, 0.0000, 6.0500
ATT: -1, -1, 35990
GPS: 17677750, 1, 10, -34.6247140, 143.5759300, 68.9000, -0.2500, 0.0000, 6.0500
ATT: 0, -1, 35989
GPS: 17678000, 1, 10, -34.6247140, 143.5759300, 68.9000, -0.3400, 0.0000, 6.0500
ATT: 0, -2, 35989
GPS: 17678000, 1, 10, -34.6247140, 143.5759300, 68.9000, -0.4200, 0.0000, 6.0500
ATT: 1, -2, 35990
GPS: 17678000, 1, 10, -34.6247140, 143.5759300, 68.9000, -0.4200, 0.0000, 6.0500
ATT: 0, -2, 35991
GPS: 17678250, 1, 10, -34.6247140, 143.5759300, 68.9000, 68.4800, 0.0000, 6.0500
ATT: 0, -2, 35991
GPS: 17678250, 1, 10, -34.6247140, 143.5759300, 68.9000, 68.1400, 0.0000, 6.0500
ATT: 0, -1, 35989
GPS: 17678500, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.8900, 0.0000, 6.0500
ATT: 0, -1, 35988
GPS: 17678500, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.6300, 0.0000, 6.0500
ATT: 0, -1, 35987
GPS: 17678500, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.4600, 0.0000, 6.0500
ATT: 0, -1, 35987
GPS: 17678750, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.3800, 0.0000, 6.0500
ATT: 1, -1, 35985
GPS: 17678750, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.1200, 0.0000, 6.0500
ATT: 2, -1, 35983
GPS: 17679000, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.0400, 0.0000, 6.0500
ATT: 2, -1, 35984
GPS: 17679000, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.0400, 0.0000, 6.0500
ATT: 3, -1, 35984
GPS: 17679000, 1, 10, -34.6247140, 143.5759300, 68.9000, 66.9500, 0.0000, 6.0500
ATT: 2, -1, 35983
GPS: 17679250, 1, 10, -34.6247140, 143.5759300, 68.9000, 66.9500, 0.0000, 6.0500
ATT: 3, 0, 35983
GPS: 17679250, 1, 10, -34.6247140, 143.5759300, 68.9000, 67.3800, 0.0000, 6.0500
ATT: 4, -1, 35981
GPS: 17679500, 1, 9, -34.6247140, 143.5759300, 68.9000, 67.8000, 0.0000, 6.0500
ATT: 2, -1, 35980
GPS: 17679500, 1, 9, -34.6247140, 143.5759300, 68.9000, 68.0500, 0.0000, 6.0500
ATT: 1, -2, 35978
GPS: 17679500, 1, 9, -34.6247140, 143.5759300, 68.9000, 68.3100, 0.0000, 6.0500
ATT: 1, -2, 35978
GPS: 17679750, 1, 9, -34.6247140, 143.5759300, 68.9000, 68.4800, 0.0000, 6.0500
ATT: 1, -2, 35976
GPS: 17679750, 1, 9, -34.6247140, 143.5759300, 68.9000, 68.4800, 0.0000, 6.0500
ATT: 2, -2, 35975
GPS: 17680000, 1, 10, -34.6247140, 143.5759300, 68.9000, 68.4800, 0.0000, 6.0500
ATT: 2, -2, 35975
GPS: 17680000, 1, 10, -34.6247140, 143.5759300, 68.9000, 68.4800, 0.0000, 6.0500
PM:20009,159,171,0,0,0,0,12,1000,
ATT: 1, -2, 35974
GPS: 17680000, 1, 10, -34.6247140, 143.5759300, 68.9000, 68.5600, 0.0000, 6.0500
ATT: 2, -2, 35974
GPS: 17680250, 1, 11, -34.6247140, 143.5759300, 68.9000, 68.6500, 0.0100, 6.0500
ATT: 1, -2, 35974
GPS: 17680250, 1, 11, -34.6247140, 143.5759300, 68.9000, 68.4800, 0.0100, 6.0500
ATT: 0, -2, 35972
GPS: 17680500, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.4000, 0.0000, 6.0500
ATT: 0, -2, 35969
GPS: 17680500, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.4000, 0.0000, 6.0500
ATT: 0, -2, 35967
GPS: 17680500, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.3100, 0.0000, 6.0500
ATT: 0, -1, 35968
GPS: 17680750, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.2300, 0.0000, 6.0500
ATT: 1, -1, 35968
GPS: 17680750, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.3100, 0.0000, 6.0500
ATT: 1, -1, 35966
GPS: 17681000, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.4800, 0.0000, 6.0500
ATT: 3, -1, 35966
GPS: 17681000, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.5600, 0.0000, 6.0500
ATT: 2, -1, 35965
GPS: 17681000, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.6500, 0.0000, 6.0500
ATT: 2, -1, 35965
GPS: 17681250, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.6500, 0.0000, 6.0500
ATT: 1, -1, 35965
GPS: 17681250, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.6500, 0.0000, 6.0500
ATT: 1, 0, 35963
GPS: 17681500, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.6500, 0.0000, 6.0500
ATT: 1, 0, 35962
GPS: 17681500, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.4800, 0.0000, 6.0500
ATT: 2, 0, 35961
GPS: 17681500, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.6500, 0.0000, 6.0500
ATT: 1, 0, 35959
GPS: 17681750, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.8200, 0.0000, 6.0500
ATT: 0, -1, 35958
GPS: 17681750, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.8200, 0.0000, 6.0500
ATT: 3, 0, 35956
GPS: 17682000, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.7400, 0.0000, 6.0500
ATT: 2, -1, 35956
GPS: 17682000, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.6500, 0.0000, 6.0500
ATT: 1, 0, 35955
GPS: 17682000, 1, 11, -34.6247140, 143.5759300, 68.8900, 68.7400, 0.0000, 6.0500
ATT: 3, 0, 35954
GPS: 17682250, 1, 11, -34.6247140, 143.5759300, 68.8800, 68.8200, 0.0000, 6.0500
ATT: 5, 0, 35954
GPS: 17682250, 1, 11, -34.6247140, 143.5759300, 68.8800, 68.9000, 0.0000, 6.0500
ATT: 5, 0, 35954
GPS: 17682500, 1, 11, -34.6247140, 143.5759300, 68.8800, 68.9000, 0.0100, 6.0500
ATT: 6, 0, 35952
GPS: 17682500, 1, 11, -34.6247140, 143.5759300, 68.8800, 69.0600, 0.0100, 6.0500
ATT: 5, -1, 35953
GPS: 17682500, 1, 11, -34.6247140, 143.5759300, 68.8800, 68.9800, 0.0100, 6.0500
ATT: 5, -1, 35952
GPS: 17682750, 1, 11, -34.6247140, 143.5759300, 68.8800, 68.9000, 0.0000, 6.0500
ATT: 5, -1, 35952
GPS: 17682750, 1, 11, -34.6247140, 143.5759300, 68.8800, 68.8200, 0.0000, 6.0500
ATT: 5, -1, 35951
GPS: 17683000, 1, 10, -34.6247140, 143.5759300, 68.8800, 68.8200, 0.0100, 6.0500
ATT: 5, -1, 35949
GPS: 17683000, 1, 10, -34.6247140, 143.5759300, 68.8800, 68.8200, 0.0100, 6.0500
ATT: 4, -1, 35949
GPS: 17683000, 1, 10, -34.6247140, 143.5759300, 68.8800, 68.7400, 0.0100, 6.0500
ATT: 3, -1, 35948
GPS: 17683250, 1, 9, -34.6247140, 143.5759300, 68.8800, 68.7400, 0.0000, 6.0500
ATT: 4, -1, 35947
GPS: 17683250, 1, 9, -34.6247140, 143.5759300, 68.8800, 68.2300, 0.0000, 6.0500
ATT: 3, -2, 35945
GPS: 17683500, 1, 9, -34.6247140, 143.5759300, 68.8800, 67.9700, 0.0000, 6.0500
ATT: 2, -2, 35945
GPS: 17683500, 1, 9, -34.6247140, 143.5759300, 68.8800, 67.7200, 0.0000, 6.0500
ATT: 0, -1, 35944
GPS: 17683500, 1, 9, -34.6247140, 143.5759300, 68.8800, 67.5500, 0.0000, 6.0500
ATT: 0, -2, 35943
GPS: 17683750, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.4600, 0.0000, 6.0500
ATT: -2, -2, 35941
GPS: 17683750, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.4600, 0.0000, 6.0500
ATT: -3, -2, 35939
GPS: 17684000, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.2900, 0.0000, 6.0500
ATT: -5, -2, 35938
GPS: 17684000, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.2900, 0.0000, 6.0500
ATT: -4, 0, 35938
GPS: 17684000, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.2100, 0.0000, 6.0500
ATT: -3, 1, 35938
GPS: 17684250, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.1200, 0.0000, 6.0500
ATT: -4, 3, 35938
GPS: 17684250, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.4600, 0.0000, 6.0500
ATT: -1, 4, 35936
GPS: 17684500, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.7200, 0.0000, 6.0500
ATT: -2, 5, 35934
GPS: 17684500, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.8000, 0.0000, 6.0500
ATT: -3, 5, 35935
GPS: 17684500, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.8000, 0.0000, 6.0500
ATT: -1, 9, 35932
GPS: 17684750, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.8000, 0.0000, 6.0500
ATT: -1, 9, 35932
GPS: 17684750, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.8000, 0.0000, 6.0500
ATT: 0, 10, 35932
GPS: 17685000, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.7200, 0.0000, 6.0500
ATT: 0, 11, 35931
GPS: 17685000, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.6300, 0.0000, 6.0500
ATT: 1, 12, 35929
GPS: 17685000, 1, 10, -34.6247140, 143.5759300, 68.8700, 67.8000, 0.0000, 6.0500
ATT: 0, 11, 35928
GPS: 17685250, 1, 9, -34.6247140, 143.5759300, 68.8700, 67.9700, 0.0000, 6.0500
ATT: 0, 12, 35928
GPS: 17685250, 1, 9, -34.6247140, 143.5759300, 68.8700, 67.6300, 0.0000, 6.0500
ATT: -1, 13, 35928
GPS: 17685500, 1, 9, -34.6247140, 143.5759300, 68.8700, 67.5500, 0.0000, 6.0500
ATT: 0, 18, 35926
GPS: 17685500, 1, 9, -34.6247140, 143.5759300, 68.8700, 67.4600, 0.0000, 6.0500
ATT: -3, 16, 35927
GPS: 17685500, 1, 9, -34.6247140, 143.5759300, 68.8700, 67.3800, 0.0000, 6.0500
ATT: -2, 14, 35927
GPS: 17685750, 1, 9, -34.6247140, 143.5759300, 68.8600, 67.2900, 0.0000, 6.0500
ATT: -3, 15, 35925
GPS: 17685750, 1, 9, -34.6247140, 143.5759300, 68.8600, 67.1200, 0.0000, 6.0500
ATT: 0, 16, 35924
GPS: 17686000, 1, 9, -34.6247140, 143.5759300, 68.8600, 66.8700, 0.0000, 6.0500
ATT: -1, 14, 35924
GPS: 17686000, 1, 9, -34.6247140, 143.5759300, 68.8600, 66.8700, 0.0000, 6.0500

Any help would be great.
Im assuming it was the negative value on ATT which was stuffing everything up. Hoping someone can confirm this for me.

 

I have also added the flight path just for kicks

Flight.jpg

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Replies

  • Trent May 10, 2011 at 8:28pm
    thankyou very much Doug, i will try your settings and report back.
  • Trent May 10, 2011 at 6:40pm

    i calibrated it on a level concrete slab. well it appeared level. Do you use anything special to level it on Doug? or do you just do it on the ground?

    I have read that it fly's great on default settings thats why i was confused when it was not working well in stabilise mode.

    Im sure i did the radio cal properly, but it wont hurt to do it again i guess.

     

  • Developer
    Doug Weibel May 10, 2011 at 6:32pm
    You need to cal the IMU with the plane in a level flying attitude.  Whatever attitude it is calibrated in is what it considers 0, so if you cal it in a somewhat nose down attitude, that is the attitude it will try to hold in Stabilize.  I fly a SkyFun and have no problem with pitch.  Also, make sure you have gone through the CLI radio cal properly...
  • Trent May 10, 2011 at 6:16pm
    Anyone?
This reply was deleted.

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