tag:blogger.com,1999:blog-36913768.post2855188225322173011..comments2024-03-27T22:31:22.146-07:00Comments on Unreasonable Rocket: Software WoesPaul Breedhttp://www.blogger.com/profile/11024641086551653462noreply@blogger.comBlogger5125tag:blogger.com,1999:blog-36913768.post-4260341451285717992008-09-07T19:07:00.000-07:002008-09-07T19:07:00.000-07:00It looks like it is related to heading. We assume ...It looks like it is related to heading. We assume that the vehicle is pointing true north. We measure magnetic north and adjust for local magnetic variation. Given pointing true north then an east west error can be corrected by rolling left/right. If we are not pointing true north then the errors cross couple. A roll left does not just change the Longitude, it also changes the Latitude requiring a pitch corrections which also couples to the e-w etc..... We flew 14 versions of the software today and it comes down to the new software not holding the proper heading.<BR/>I did a bit of work on this and <BR/>I just flew off two batteries and the "new" branch worked well. <BR/>I had the helicopter flying squares 10 meters on a side going from waypoint to waypoint. Now to get the helicopter doing the equivalent of a 14.9 second tethered rocket flight, up 1M, hover level, down.Paul Breedhttps://www.blogger.com/profile/11024641086551653462noreply@blogger.comtag:blogger.com,1999:blog-36913768.post-22307655407379814642008-09-07T10:01:00.000-07:002008-09-07T10:01:00.000-07:00sounds like timing lag.can you make the code run a...sounds like timing lag.<BR/><BR/>can you make the code run a simulator?<BR/><BR/>feed the code into XPlane and try and debug<BR/>the codeAnonymousnoreply@blogger.comtag:blogger.com,1999:blog-36913768.post-56442221148932881022008-09-07T02:39:00.000-07:002008-09-07T02:39:00.000-07:00Can you "fork" the problem, ie replace only half t...Can you "fork" the problem, ie replace only half the code and try again? And if the problem persists replace only a quarter etc to narrow down where it is...<BR/><BR/>Also, if you can save all data from a helicopter flight you should be able to run simulations offline. If the inputs are exactly the same, the outputs should be too. Then you can run sw tests in seconds and no loss of hardware. I realize doing offline runs for feedback software is of limited use (you can only replicate exact results) but still...<BR/>I don't know if it is feasible to save all data though.Anonymousnoreply@blogger.comtag:blogger.com,1999:blog-36913768.post-73274650733323951302008-09-06T23:21:00.000-07:002008-09-06T23:21:00.000-07:00Sounds like it *could* be a timing issue to me. Mi...Sounds like it *could* be a timing issue to me. Mixing the new code in could have introduced delays that were not there before. Have you checked that the loop is running at the same rate as before? No new lags in the actuator commands? I have seen network lag in simulation throw off a controller in a similar fashion, making it marginally stable or mildly unstable. Then again you said you tried new gains and that didn't work, so that goes a bit against this theory.Anonymousnoreply@blogger.comtag:blogger.com,1999:blog-36913768.post-20444773725088078832008-09-05T21:22:00.000-07:002008-09-05T21:22:00.000-07:00Unitialized variable?Unitialized variable?Anonymousnoreply@blogger.com