osrf
Depth rate off in YoYo Mission.
Regarding the yoyo circle test mission issue, here's a comparison of 8 minutes of simulation time in the MBARI sim vs the log you plotted above. Seems like depth-rate is off in the Ign sim for whatever reason. At +/-20 deg pitch, LRAUV should complete a 18 meter Yo-Yo leg in roughly 1 minute.
Originally posted by @braanan in https://github.com/osrf/lrauv/issues/90#issuecomment-942572893
Some potential causes could be:
- Incorrect Hydrodynamics when pitched downwards leads to slow descent?
Seems like our pitch angle is not responding fast enough, in our simulations it could be possible that the fins aren't providing sufficient control authority.
Visually, it looks like parallel circles with no pitch:
I originally posted in https://github.com/osrf/lrauv/pull/90#issuecomment-940621042
However, this seems to be intermittent. I ran the same thing 12 times and was only able to reproduce this 2-3 times, and I couldn't find the pattern to reproduce it. So just taking note.
I believe this is a different problem. In my case, there is pitching but its not pitching fast enough.
Is yoyo meant to pitch entirely just with the elevator, and not use the mass shifter at all?
Yes that is correct.
On Tue, 26 Oct 2021, 12:59 Louise Poubel, @.***> wrote:
Is yoyo meant to pitch entirely just with the elevator, and not use the mass shifter at all?
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/osrf/lrauv/issues/142#issuecomment-951560937, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAEEMQE7F3UZOZPDRXDM353UIYYTPANCNFSM5GFPG4IA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.
I believe this is a different problem. In my case, there is pitching but its not pitching fast enough.
So the plots in the original post that you quoted from https://github.com/osrf/lrauv/pull/90#issuecomment-942572893 come from the actual log files produced from the run in the screenshot above.