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Re: [Paparazzi-devel] AGGRESSIVE section and HOME mode.

From: Helge Walle
Subject: Re: [Paparazzi-devel] AGGRESSIVE section and HOME mode.
Date: Sun, 21 Nov 2010 13:51:00 +0100

Thanks Reto,
This explains the behaviour of my plane when shifting altitude. I will decrease CLIMB_THROTTLE in AGGRESSIVE from 1.0 to .75 and observe changes. My plane is almost capable of vertical climb, so the new value would be more sensible.
I have BLEND_START=15 and BLEND_END=10. Maybe a bit low, I'll adjust to the typical values 30/15.
The plane circles very nicely and regularly in the Standby block and also does very nice half-circles in the Oval block.
However, when I let the plane enter HOME mode, the flight path around the HOME waypoint is irregular and sometimes more of an ellipse. I wondered if there are other parameters than the HOME_RADIUS and security_height to adjust in this mode.

2010/11/21 Reto Büttner <address@hidden>
Hi Helge,

nice to read you are flying in AUTO2.

The AGGRESSIVE section comes into effect when the vertical tolerance
band defined by BLEND_START is exceeded. Normal vertical control is
reestablished when the vertical deviation is within BLEND_END.
BLEND_START must be larger than BLEND_END. typical values are 30
[meters] for BLEND_START and 15 [meters] for BLEND_END. You can look
at it as a two-level controller resulting to smoother control
behaviour than a single-level controller.

Your instable circling behaviour is not clear to me.


2010/11/20 Helge Walle <address@hidden>:
> Hi,
> I have done a number of Auto2 flights now and want to do further
> improvements.
> I notice that when I shift the altitude +30m in Auto2, the throttle
> immediately goes to 100% and eases off in the new altitude. I have strong
> brushless motors in the Twinstar2 and full throttle is not necessary.
> I have an AGGRESSIVE section in the airframe file as well as AGR_CLIMB
> define in my firmware. CLIMB_THROTTLE in the AGGRESSIVE section is 1.0 at
> present. I assume this is where a lower value will have effect on the
> throttle setting when shifting altitude (?)
> In general, when does the AGGRESSIVE section defines come into play?
> Also, my plane doesn't circle as well in HOME mode as it does in Standby. I
> am not sure where I can find the parameters to improve the HOME mode
> performance. The HOME_RADIUS is 50m in the FAILSAFE section, but I would
> like to know if any other settings can make the performance better.
> Any help is very much appreciated,
> Thanks,
> Helge.
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden

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