breadoven
breadoven
> The first flight used the angle mode and the firmware version was inav7.0. OK well that rules out the pitch oscillation issue during Althold that affects 8.0. A Diff...
Looks like it was trying to level out in the final dive but the PID control pitch up output was minimal caused by a large I term pitch down offset....
It's not normal for the controls to lock out obviously. However, if you look at the log screen shot you can see that there is a pitch up demand, `pid_sum[pitch]`...
> I think I've found the problem. There are two segments of abnormal PID. One segment starts from 2:20 with a full roll and goes until 2:57 when it switches...
You're confusing attitudes with rates, they're not the same thing. `PID_sum `is controlling rate of pitch not pitch angle. When you apply a pitch control input in Angle it tries...
Solution is `fw_ff_pitch `needs to be probably 3 times larger, i.e. 90+, although this does depend on the overall control setup. If that was the case in the example above...
This is caused by the AHRS and is normal when the craft is static on the ground. It's not an indication anything is wrong and will resolve itself in flight...
In regard to the AHRS I thought it was https://github.com/iNavFlight/inav/pull/9387 that caused the pitch/roll drift and this came in version 7. This pitch/roll drift was mentioned before in another issue...
Pretty sure this is caused by problems with the Z position estimations. A quick look at the DVRs shows numerous examples of position and Z velocities that contradict each other...
Looking at the log above I don't see the abrupt changes in estimated altitude that were in the logs in #10943. The one thing that is obvious though is Acc...