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Flight Controller Data Analysis Series Tutorials--Part 4
3196 0 2017-9-28
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Content:

1.        Flight Controller Data Analysis Series Tutorials – Exporting the Flight Controller Data and Introducing DataViewer
2.        Flight Controller Data Analysis Series Tutorials – Locating the Crash Data
3.        Flight Controller Data Analysis Series Tutorials – Introduction to Coordinate Systems
4.        Flight Controller Data Analysis Series Tutorials – Introduction to Attitude Mode and Crash Cases
5.        Flight Controller Data Analysis Series Tutorials – Stopping Motors by Conducting the Combination Stick Command (CSC)
6.        Flight Controller Data Analysis Series Tutorials – Drone Under Control Crash Cases
7.        Flight Controller Data Analysis Series Tutorials – Compass Interference Cases



4.        Flight Controller Data Analysis Series Tutorials – Introduction to Attitude Mode and Crash Cases

In Attitude mode, the drone’s attitude will be stabilized, but the drone’s position and flight speed cannot be controlled. That is, the flight controller will prevent the drone from rolling over, but cannot guarantee the control of the speed and position (hovering in place). With a certain initial velocity and external forces, the drone’s speed will change constantly, leaving an incorrect impression to the operator that the drone is out of control. Though the control sticks are not pushed, the drone will move horizontally. It is dangerous to fly the drone in Attitude mode with winds or in narrow spaces. This is the major cause of the crash cases reported by beginners.

Why not remove this risky flight mode? Actually, Attitude mode is available for the sake of the technology development. At the beginning, drones could only be controlled manually. When the GPS signal is weak and the vision systems fail to work properly, the drone will enter Attitude mode automatically. This operation cannot be avoided with the current technologies. But we believe that this situation will no longer happen if the positioning technology and sensors are improved in the future.


The drone may enter Attitude mode due to various reasons, for example, the GPS signal is weak, the environment is not ideal for the vision systems to work, the compass is interfered. Besides, some DJI drones support manually enabling Attitude mode by toggling the Flight Mode Switch on the remote controller to A-mode (for more details, refer to the User Manual of the specified product). To avoid enabling Attitude mode by mistake, “Multiple Flight Mode” is turned off for DJI drones by default, but can be changed in the DJI GO series app.


Figure 4.1 shows the attitude data of a drone.


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Figure 4.1


In figure 4.1, we can see that the drone crashes at 80s and the GPS signal level is 0 after comparing the values along the acceleration curve.

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Figure 4.2


As shown in figure 4.2, only the yaw stick is pushed at 80s.

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Figure 4.3


The drone moves at a certain speed in the horizontal direction, as shown in figure 4.3.

When the drone is flying in Attitude mode, only the drone’s attitude will change as the control sticks are pushed. Note that whether the GPS signal is strong or not cannot be determined merely based on the searched satellites. It also relates to the satellite distribution, dilution of precision, etc. If the drone enters Attitude mode abnormally during flight, it is recommended to land it as soon as possible. Avoid flying the drone in a place where the GPS signal is weak, vision systems cannot work, and the interference is severe.


2017-9-28
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