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Beginner
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Why does the Intel Aero RTF suddenly drop in altitude when yawing left (counterclockwise)?

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We are currently working on a project to get the drone to fly autonomously indoors. We are using the Ardupilot flight controller firmware that came with the .iso image, so everything is updated as per the Github instructions. We are using Dronekit to send attitude commands to the flight controller in Guided_No_GPS mode. We have installed a downward-facing LeddarOne LiDAR to give accurate height estimates to the flight controller and put a 2D RPLiDAR on top of the drone to give horizontal position estimates using a SLAM algorithm. Currently, we are able to maintain a stable horizontal position, but after hovering well for about 15 seconds, the drone will yaw left and suddenly drop in altitude. This drop makes the whole system unstable. We have run several tests sending yaw attitude commands to see the behavior of the drone. When a yaw command is sent to have the drone yaw left, the drone starts dropping in altitude right away. When told to yaw right, the drone starts yawing right without losing altitude, but seems to struggle to make the turn. Then, even though commands are still being sent to yaw right, the drone starts yawing left by itself and drops in altitude. What could possibly be causing this issue? Is it a hardware issue or a problem with parameters in the flight controller? This is the last step for us to move forward, so any help is appreciated!

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Employee
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Hello 3000020616851.5475749345545242E12, Thank you for your patience! We have tried to replicate your issue, but unfortunately we do not have the same setup as you do. Best option will be to reach out to Ardupilot: https://discuss.ardupilot.org/ Another thing you can do, is check with the new ardupilot firmware 3.6.7: http://firmware.ardupilot.org/Copter/stable/aerofc-v1/ or with latest 3.7.0-dev: http://firmware.ardupilot.org/Copter/latest/aerofc-v1/ Here are the configurations the sensors: http://ardupilot.org/copter/docs/common-rplidar-a2.html http://ardupilot.org/copter/docs/common-leddar-one-lidar.html Also, another thing to test is to try to yaw the drone outside with GPS signal and see if the behavior is the same as when using the LeddarOne sensor for altitude. For this, you will need to modify your dronekit code. Thank you and best regards, Eliza

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Employee
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Hello 3000020616851.5475749345545242E12, Thank you for your interest in the Intel Aero Ready to Fly drone. Could you please let us know if the floor has texture? How much does the drone drops in altitude? You can also perform a calibration of the drone to ensure that everything is right from this point of view. Firstly, you will need to perform a "Airframe reset" and after that you can follow the instructions from: https://github.com/intel-aero/meta-intel-aero/wiki/02-Initial-Setup#calibration-1 Thank you and best regards, Eliza
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Beginner
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The floor has a little bit of texture, but we are not using optical flow. The drone drops about 1m every time. We have noticed that this happens consistently between 18 and 20 seconds after takeoff every time. We recalibrated the drone, but it did not fix the issue.

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Employee
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Hello 3000020616851.5475749345545242E12, Is it possible to test other firmware as well? Could you please upgrade your PX4 Firmware to version 1.8.2? You can find the latest release here.- https://github.com/PX4/Firmware/releases Please make sure that you follow the instructions on Flashing the Flight Controller which you can find here. - https://github.com/intel-aero/meta-intel-aero/wiki/02-Initial-setup#flashing-the-flight-controller-r... After upgrading the firmware, please do an Airframe reset. Instructions on how to do that can be found here. - https://github.com/intel-aero/meta-intel-aero/wiki/02-Initial-setup#calibration-1 Thank you and best regards, Eliza
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Beginner
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We are using Ardupilot because we need to use dronekit to fly in guided_no_gps mode. When we updated to the newest ardupilot firmware (3.6.6), we couldn't get the rangefinder to be used as the altitude source anymore. We have followed those instructions for flashing the flight controller and performing an airframe reset. Thanks.

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Employee
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Hello 3000020616851.5475749345545242E12, Could you please provide us the code you are using? Thank you and best regards, Eliza
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Beginner
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We have attached our Dronekit code. Thank you so much for your help

 

 

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Highlighted
Employee
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Hello 3000020616851.5475749345545242E12, Thank you for your patience! We have tried to replicate your issue, but unfortunately we do not have the same setup as you do. Best option will be to reach out to Ardupilot: https://discuss.ardupilot.org/ Another thing you can do, is check with the new ardupilot firmware 3.6.7: http://firmware.ardupilot.org/Copter/stable/aerofc-v1/ or with latest 3.7.0-dev: http://firmware.ardupilot.org/Copter/latest/aerofc-v1/ Here are the configurations the sensors: http://ardupilot.org/copter/docs/common-rplidar-a2.html http://ardupilot.org/copter/docs/common-leddar-one-lidar.html Also, another thing to test is to try to yaw the drone outside with GPS signal and see if the behavior is the same as when using the LeddarOne sensor for altitude. For this, you will need to modify your dronekit code. Thank you and best regards, Eliza

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