LibrePilot Forum
Users => Applications - Autonomous Flight => Topic started by: lawnmower4x on October 30, 2016, 03:33:25 pm
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After gps 3d fix the attitude indicator is slowly ( around 2 hertz) fluctuating. It gets worse when the copter is facing north or south, motors off on the ground.
The copter is flyable in gps assist, but when facing north or south you see the tremor while hovering.
This was not the case with rc1. Anybody knows a solution?
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Nothing related to INS13 has changed between RC1 and RC2, it should work the same.
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The two hertz oscillation has been seen before. See this thread: https://forum.librepilot.org/index.php?topic=382
I just now posted a similar issue at the end of that thread, but my oscillation is about 8 times slower than yours: https://forum.librepilot.org/index.php?topic=382.msg17846#msg17846
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A few months ago there was a next release with a bug in the magnetometer calibration: instead of pressing "save position" you had to press the "save" button in the lower right hand corner of the gcs.
That was the first time i had a calm, oscilation free horizon.
Probably the calibration routines changed to something worse in rc1/2?
Observation:
Setting home location gives an "gravity accelleration" of 9,81000042 in my location.
Reading out AccelState z-axis in gcs< Data Objects shows a value fluctuating between -9.87 and -10.00, around the same tempo of fluctuation as the wobble in the artificial horizon.
Meanwhile the z-axis MagState is showing smaller and slower fluctuations from 478 to 481 mGauss.
I suspect the magnetometer and other calibrations need to be looked after.