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Deployment ru30-20210716T1804
Pilot Notes
Pitch motor oddities are not new, at least as of previous mission. Some gliders have .1 for db, others have .2, some have .15. Going to try .15. Reviewed last mission pitch. Mostly on dives, near the surface, upper 10 m, the glider is diving and it almost looks like a noise spike in m_battpos. Or the battery 'slides' forward? a few .x of an inch. This results in some wobbly dives. Also going to enlarge the pitch deadband from 3 deg to 4. u_pitch_ap_deadband .07 rad # 4 deg sensor: f_battpos_deadzone_width(inches) 0.2 # Sets x_ limit sensor: f_battpos_db_frac_dz(nodim) 0.5 # deadband as fraction of dead zone; Recommended setting for improved servo with memory - from 7.7 TO sensor: f_battpos_deadzone_width(inches) 0.2 # Sets x_ limit sensor: f_battpos_db_frac_dz(nodim) 0.75
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