Choppy values for RPY while Thrust is clean

[ali]

Hi,

I'm trying to port the arming function over from OpenPilot, but I ran into a problem:

The arming process requires the controller to be helt at a certain position for a certain amount of time. Whenever the stick leaves "the arming corner" the arming process is reset.
While I was scratching my head why the arming would work when the arming time was very short (a few ms), but not for, say, 3000ms, I added a few logging variables to stabilizer.c to check what was going on. The value for actuatorThrust looks good, representing the stick position. But the values for actuatorRoll, etc look broken and choppy as they twitch between their intended value and zero. Am I using the wron values? I tried the actuatorPitch, eulerPitch and desiredPich (Roll and Yaw respectively), all with the same results. The quad is flying OK, however.

Can anybody shed some light on this?

Cheers,

Ali

[arnaud]

Hi,

This sounds like a synchronization problem between tasks. Commander.c contains a double-buffering that should avoid such problems. Are you using the commanderGetRPY() function to get your values?

Arnaud