Re: [Paparazzi-devel] Throttle dies in auto2

[Pascal]

Hi,

I'm not sure to agree: nav_desired_gaz is used only in auto_pitch 
(CLIMB_PITCH_MODE) and fixed throttle mode (VERTICAL_MODE_AUTO_GAZ). The 
value of nav_desired_gaz is set in the same time than the mode (in the 
generated flight_plan.h file). So I don't see why it would help to set 
this variable somewhere else.
Could you provide the flight plan which is wrong ?

--Pascal

Roman Krashanitsa wrote:

> I found the problem. It seems that nav_desired_gaz should be specified at least once 
> taking into account logics of the flight plan. For example, if gaz is specified only once 
> in the init block, the program may skip it due to (launch && z>ALT) already 
> true and this variable will be left at 0, like in my case when it is being launched in 
> manual.
>
> As a solution for silly people like me, we could modify nav.c:359 from
> uint16_t nav_desired_gaz;
> To
> uint16_t nav_desired_gaz=TRIM_UPPRZ((FAILSAFE_DEFAULT_GAZ)*MAX_PPRZ);
>
> Or add
> nav_desired_gaz=TRIM_UPPRZ((FAILSAFE_DEFAULT_GAZ)*MAX_PPRZ);
> To nav_init(void)
>
> Best regards,
> 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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> > > > address@hidden 
> > > > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> > > >        
> > >
> > >
> > >
> > >
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> >
> >
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> >    
>
>
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