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Re: [Paparazzi-devel] Problem with throttle in AUTO2

From: Roman Krashanitsa
Subject: Re: [Paparazzi-devel] Problem with throttle in AUTO2
Date: Fri, 4 Mar 2011 11:25:33 -0800

Hey Norman, gains - this is what I was going to point out, but time difference and you found it yourself :)
What I suspect is AUTO_AIRSPEED_ are not the gains you need. Sure, they helped but try other gains related to throttle. See, as far as I remember, AUTO1 does not control throttle.
If your airplane flies well in AUTO1 then your roll and pitch gains are perfectly set.
Now you need to move on to throttle adjustment. Try looking in the code where altitude error is calculated and see what should be pgain sign. Or just try it out.

2011/3/4 Norman Wildmann <address@hidden>
Thanks for the replies so far.

We could solve the problem. Changing the AUTO_AIRSPEED_PGAIN and AUTO_GROUNDSPEED_PGAIN to a positive value helped.

Now we did fly waypoints alright and are only facing the problem that the controller does not really control the speed very well. Also, altitude can be controlled alright when the plane has to climb but it does not descent.

So we have some controller tuning to do. If anyone has good procedures to tune the navigation controllers i wouldnt mind to hear about those.



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