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Re: [Paparazzi-devel] Reply to: "Rudder not working (Luiz Flavio Felizar

From: Luiz Flavio Felizardo
Subject: Re: [Paparazzi-devel] Reply to: "Rudder not working (Luiz Flavio Felizardo)"
Date: Fri, 16 Sep 2011 11:25:09 -0300

I double checked your e-mail as soon as I arrived here at the uni and the problem doesn't lie on that Auto RC command section, I had tested with the set command YAW inside that section already, just forgot to mention on my last email. Speaking about the e-mail if u read it carefully i did mention that not only it doesn't work on Auto1 and Auto2, but it also doesn't work on Manual Mode, so the problem wasn't really that. But thanks anyway. Maybe someone else might guess what's wrong.

Thanks again.

2011/9/16 Luiz Flavio Felizardo <address@hidden>
Cool, I will check that in a few and make sure to comment here right after...
Thanks for now.

2011/9/16 Chris <address@hidden>
Of course it won't work for two reasons.
1) the autopilot does not use the rudder unless it is told to.
2) you need to modify your airframe file like this:
<servo name="AILERON"        no="0" min="2000"    neutral="1480" max="1000"/>
<servo name="ELEVATOR"        no="1" min="2000"    neutral="1500" max="1000"/>
<servo name="MOTOR"        no="2" min="1100"    neutral="1100"  max="2000"/>
<servo name="RUDDER"        no="3" min="1000"    neutral="1500" max="2000"/>

<axis name="ROLL"        failsafe_value="0"/>
<axis name="PITCH"        failsafe_value="0"/>
<axis name="THROTTLE"        failsafe_value="0"/>
<axis name="YAW"        failsafe_value="0"/>

<set command="ROLL"          value="@ROLL"/>
<set command="PITCH"         value="@PITCH"/>
<set command="THROTTLE"      value="@THROTTLE"/>
<set command="YAW"        value="@YAW"/>

<section name="MIXER">
<define name="COMBI_SWITCH" value="0.5"/>

<set servo="AILERON"        value="@ROLL"/>
<set servo="ELEVATOR"        value="@PITCH"/>
<set servo="MOTOR"        value="@THROTTLE"/>
<set servo="RUDDER"        value="@YAW + @ROLL*COMBI_SWITCH"/>

<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 -->
<set command="YAW" value="@YAW"/>

Read the wiki one more time i am sure this will help you fill the gaps.
I have read the wiki pages more than 100 times :-)

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