If you set the picth attribute to auto in your flight plan you will
activate an alternate control loop call "AUTO_PITCH" were the throttle
is more or less constant and the altitude tracking is done with the
There is a very basic ground speed loop in sw/airborne/nav.c:210 that I
have never really used (Pascal did in simulation...) or an other one in
fw_v_ctl.c that seems to use a airspeed sensor to prevent stalling.
Le 21/06/2010 22:26, Rokas Adiklis a écrit :
I'm trying to figure out two things:
The reasons for this is that I need to fly reasonably far distance (~8
km) forth and back, while having pretty high wind (~9m/s). While at
wide throttle (70%) and Auto 1 mode it does pretty well, but in Auto 2
it wobles around like a snake and does not go straight. I have noticed,
that it usually flies 15-25 meters above target altitude (it has
non-symetrical wing with rather good lift). When this happens, it holds
lower throttle to decrease altitude, but then there is not enough
thrust to keep it stable and it starts to fight with incoming wind.
When I command to shift desired altitude +30 meters, it instantly adds
throttle, climbs these ~30m and decreases throttle to a low value again
(as it is too high again). When I changed the navigation mode to
constant throttle, it was rathe stable against wind, however the
altitude was not controlled, and the plane was constantly going up.
- how to set up constant ground speed?
- how to make it decrease altitude with pitch and without
What shoud I do, to configure minimal throttle and (pitch-based)
altitude control at the same time? I've google out something about "pitch_of_vz"
parameter. Could it help it given situation?
Also, is it possible to set constant ground speed? I'm trying to
searched the archives, but just don't seem to be able to find the
solution (or don't realize to have found one).
Thanks in advance for any help or hint!
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