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Re: [Paparazzi-devel] Setting servos in AUTO2?

From: pascal . brisset
Subject: Re: [Paparazzi-devel] Setting servos in AUTO2?
Date: Thu, 28 May 2009 10:29:18 +0200 (CEST)


ap_state->commands[COMMAND_ROLL] (resp. PITCH) is set with 
h_ctl_aileron_setpoint (resp. h_ctl_elevator_setpoint), c.f.

h_ctl setpoints variable are set by the h_ctl_attitude_loop() (from fw_h_ctl.c) 
loop) which can be disabled with the
h_ctl_disabled flag. So you can write something like

  <set var="h_ctl_disabled" value="true"/>
  <set var="h_ctl_aileron_setpoint" value="0"/>
  <set var="h_ctl_elevator_setpoint" value="MAX_PPRZ/2"/>
  .... waiting for a condition ...
  <set var="h_ctl_disabled" value="false"/>


----- Original Message -----
From: "Steven Wawryk" <address@hidden>
To: address@hidden
Sent: Thursday, 28 May, 2009 09:35:01 GMT +01:00 Amsterdam / Berlin / Bern / 
Rome / Stockholm / Vienna
Subject: [Paparazzi-devel] Setting servos in AUTO2?


What would be the best way to set servos to defined positions?

I would like to do this as part of preflight testing, and possibly to avoid 
having the servos flapping around before launch.

While trying out, I've tried setting the ap_state commands (eg 
ap_state->commands[COMMAND_PITCH]) from the flight plan, before any 
go/attitude/heading/etc elements (hoping to prevent any control loops from 
activated).  Unfortunately, there seems to be something else periodically 
adjusting commands according to the COMMANDS messages in the telemetry log.


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