Inverted Roll Problem

Hi everybody,

After a silly crahs testing arducopter 2.3 with our quad ( one of our four blades goes away in the take off at about 50 cms from ground), our APM 1280 with a Hotel 1.0 OilPam seems to be ok except a little big problem:

The artificial horizon in The Mission Planner or in HappyKillmore shows an inverted readout, it meens, when i tilt the board to the left, roll left, the horizont in the CGS shows it tilted to the rigth, roll rigth.

Its shows perfectly and stable the roll angle but in the wrong direcction.

Testing in the cli ( im using ArduPilotMega V2.23 software because of the "non supported in 1280" message in some cli tests on laters versions):

The first thing that called my attention was on Gyro tests, i take negative readouts from gyros, but positive from accelerometers (rolling left)

Gyro

0    0    0    |    0    0    -9
-1    0    0    |    0    0    -11
-2    0    0    |    0    0    -10
-2    0    0    |    -1    2    -8
-1    0    0    |    0    5    -7
0    0    0    |    0    6    -6
0    0    0    |    0    6    -7
0    0    0    |    0    6    -7
0    0    0    |    0    6    -7
0    0    0    |    0    6    -7
0    0    0    |    0    6    -6
1    0    0    |    0    6    -6
2    0    0    |    0    3    -7
2    0    0    |    0    1    -9
0    1    0    |    0    -1    -10
0    0    0    |    0    0    -9

When testing IMU it shows the negative roll as espected rolling left:

IMU

r: -33    p: 0     y: 292
r: -33    p: 0     y: 292
r: -33    p: 0     y: 292
r: -33    p: 0     y: 292
r: -33    p: 0     y: 292
r: -33    p: 0     y: 292

and ADC shows more or less what i expected, some colums changing values during moves (Gyros) and other colums changing and staying in a fixed valeu during tilt (accelerometers) like in Raw Gyro test:


ADC
    
1687    1734    1339    1617    2055    2014    2477    2894    171    
1687    1733    1339    1616    2056    2015    2478    2881    171    
1687    1733    1340    1616    2057    2014    2478    2892    171    
1690    1601    1352    1616    2050    2012    2504    2946    171    
1690    1482    1340    1616    2049    1910    2405    2713    171    
1703    1499    1330    1616    2037    1882    2486    2911    171    
1710    1551    1321    1617    2044    1795    2374    2625    171    
1688    1648    1338    1616    2046    1776    2405    2715    171    
1695    1679    1330    1616    2045    1736    2349    2566    171    
1687    1731    1338    1616    2045    1742    2378    2641    171    
1687    1727    1337    1616    2045    1739    2372    2618    171    
1687    1729    1337    1616    2045    1736    2366    2631    171

So, has anyone had this issue before?

Is it normal a positive readout from acc when rolling left vs the negatives readout from gyros?

If coming from a damaged hardware, could it be corrected by changing the roll sing in the code?

Im going to test with the analog filters enabled although i think it would not change the roll inversion.

Thanks in advance, and sorry about my poor spaniard english.



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Replies

  • Hi again,

    i've solder the analog filters jumpers and it seems to smooth a little the sensors graph, but nothing more changed.

    However, after a hand test withouth propellers where the motors seems to response as expected, i decided to upload 2.3 code again and make an indoor fly test leting it hovering from my hand and trying to desestabilize it. It flyes perfectly and when i tilt it in any angle or direction its gets estabilized again whitout problems.

    So i figure its must be a telemetry problem. In fact, in this last flyght i've noticed that when i give throttle up, the telemetry get freezed in my pc and its apears again when throttle its cuted. Xbee modules show rx and tx flashing normally during that.

    I'm going to use another pc, rewire everything, use separate batteries for motors and APM and test it again.

    I will update the tests.

    Thanks.

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