RE: [Paparazzi-devel] Throttle dies in auto2

[Roman Krashanitsa]

Pascal,

I think we need slew in AUTO1. Auto1 operates on desired values, automatic 
control is on, its not much different from auto2, except there is no 
navigation. Just my thoughts.

Roman

> -----Original Message-----
> From: 
> address@hidden 
> [mailto:address@hidden
> rg] On Behalf Of Pascal
> Sent: Wednesday, August 30, 2006 2:56 PM
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Throttle dies in auto2
> 
> 
> Hi Roman, Hi Anton,
> 
> the default is "no slew" (pid.c:131, CLIMB_MAX_DIFF_GAZ=1).
> 
> What is expected (from what I reread in the code):
>   - MANUAL: no control on the throttle, you get what you set 
> on the stick
>   - AUTO1, AUTO2: slew is active: you cannot immediately go from 
> throttle=0 to throttle=100%. The variation in time is limited by 
> CLIMB_MAX_DIFF_GAZ
> 
> MANUAL -> AUTO1|AUTO2 :
>  Before the switch
>   - desired_gaz is set (main_ap.c:258)
>   - pid_slew() is run (main_ap.c:462)
>  so the controller follows (with a delay) your manual 
> throttle command 
> (of course this desired_gaz value is unused by the fbw 
> process in this mode)  After the switch: desired_gaz smoothly 
> evolves from the current value 
> to the one computed by the controller (AUTO2) or set by the 
> stick (AUTO1)
> 
>  So I can't explain the problem you observe ... And I can't 
> reproduce it 
> with the simulator :-(
> 
>  About the CLIMB_MODE_PITCH: desired_gaz is set to 
> nav_desired_gaz which 
> is set by the navigation task, i.e. the flight plan.
> 
>  So we will have to boot a plane to figure out the problem. I 
> think we 
> almost never flew in MANUAL since the slew control was implemented ...
> 
>  Last remark: do we really want the slew in AUTO1 ?
> 
> --Pascalr
> 
> address@hidden wrote:
> 
> > Roman,
> > Ive seen this before.  What climb mode are you using?  If you arent
> > specifying
> > then Im pretty sure that part functions.  However There is 
> a throttle 
> > slewing
> > built in, Pascal would have to tell you whether its default 
> on or not, 
> > as I
> > dont have code infront of me.
> >
> > Anton
> >
> >
> > Quoting Roman Krashanitsa <address@hidden>:
> >
> >> Guys, I have this weird behavior while flying in manual/auto1 and 
> >> then switching to auto2. First the throttle dies to 0, then slowly 
> >> goes up to the required value. Im I doing something wrong?
> >>
> >> I suspect that this is related to the initial value of 
> >> nav_desired_gaz variable in nav.c when 
> climb_mode==CLIMB_MODE_PITCH 
> >> All other cases use controlled_gaz.
> >>
> >>
> >>
> >>
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> >
> >
> >
> >
> >
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> 
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