random yawing while take-off or landing: SOLVED

[afernan]

[kinderkram]

Good job, Angel!

If you don't need the copter to keep the heading on take-off & landing (i.e. as a part of the video scene) you can do without.
Usually t-o & l is near where the operator stands, so it does make sense to control the yaw manually.

If the copter also behaves like that on a waypoint/loiter then you'd better try to tune the nav. PIDs first.
I've seen similar behaviours for the yaw - first reacts too slow, speeds up, overshoots, yaws back and so on...
This can be tuned.
But if it only chases the heading on t-o & l then your code might be a solution.

Thanks for your constant investigations and tinkering!
Once confirmed your changes might make it into the next release.

Norbert

[afernan]

The yaw problem happens only in takeoff and landing. Loiter is OK since heading is a fix value.
Takeoff will have the heading of the initial position, and landing the last heading before landing start.
Angel

[afernan]

This yad fix is still not implemented in r56+.

This is an essential fix for me, unless you have a "perfect" tunned AQ, where this problem is minimissed. I always mod the new code´s to implement this and others like signalling.

LED´s is also an important addittion that many of us are willing to get implemented in the standard.

Angel

[Kisssys]

Hi Angel,

I have not messed with missions for a couple of month's but was aggravated with it yawing randomly after a Return to Home and landing.

Returning to a waypoint and then a landing did not have the problem.

Does this fix that problem?

Steve

[afernan]

@Steve:

It doesn't matter where you come from for a landing: I allwasys get the problem. My quad is not perfectly equilibrated in yaw ( when I move the stick for a yaw, it also moves laterally a bit). So, when landing, it tries alwais to point the goal, and this generates this kinda random yawing.
With one line of code is solved, as I've wrote before
Angel

[Max]

So would the real fix be to fix the yawing problem of your quad? The proposed code is just a hack around whatever the real issue is here.

-Max

[afernan]

[Max]

[afernan]

@Max:
This video shows the yaw-missalignement problem :

You can also see a "bad" landing on the track-2 of the "kml" attached. Play at the end of the mission.

navSetHoldHeading(navData.targetHeading) tries to keep heading to the target all time. In a landing, for instance, if your descend is perfectly vertical, there´s no problem. But if you move slightly out of the vertical, it will point to the target all time that is a fixed point in the floor. Looking the kml file is easy to understand.

Setting navSetHoldHeading(AQ_YAW); yaw is fixed during all TO/landing on the last yaw position.


My motors are noy tilted (at least this is what I try), but my quad of the video is a bit "extreme": very light (< 800g) with big motor/props (RCT5010 & carbon 15x5) so is highly sensible in yaw. In other much bigher Hexa I have is realy minimised the problem.

Angel