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Re: [Paparazzi-devel] Successful flights with total energy control loops

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Successful flights with total energy control loops !
Date: Fri, 28 Sep 2012 09:21:20 +0200

Energy Control refers to altitude+aispeed in the control loop and not voltage+current. 

Sorry, you indeed need <define name="VoltageOfAdc(x)" value="0*(x)+124" /> instead.

Please note that the current paparazzi "Release" is v4.0. Several people are working hard to be able to release master as soon as possible. Any help is welcome.

If in the mean time you want to stay closer to released code but also wnat fancy new features you can use v4.0 and pull in just the features you want as most have a pull request on github:


git clone git://
cd ./paparazzi
git remote add tud git://
git pull tud v4.0_energyctrl


On Fri, Sep 28, 2012 at 1:24 AM, Gerard Toonstra <address@hidden> wrote:

If I'm not mistaken, the energy here refers to the total sum of potential energy (altitude) and kinetic energy (velocity).
Knowing your plane data, you can figure out what a desired energy sum should be in a given context and then figure out what the
current energy sum is by measuring airspeed and altitude. This allows you to use the throttle to increase or decrease energy.
The pitch is then a "command" that allows you to exchange kinetic energy for potential energy or vice versa.

My intention is to use the EzOSD current sensor. This has a chip underneath the sensor that does all the nasty work for you.
It measures the voltage and the current,  which is all you need (it does mAh consumed too) and you get that through i2c.
You then need to configure the capacity of the packs you're flying with in paparazzi.

Figuring out the (filtered) current and voltage over some time delta establishes the power used by the plane.

The configured capacity is a guideline. The measured voltage is like a slider indicator over the capacity configured
and estimates how much of that capacity is left. The rest is figuring out ground speed, the flying time left based on
the capacity left and then deriving the distance that can still be flown on those estimates.


On Thu, Sep 27, 2012 at 5:58 PM, Tilman Baumann <address@hidden> wrote:
On 25/09/12 10:51, Christophe De Wagter wrote:
Has anyone been flying master fixedwing on a stm32 board?

You can add:

<define name="VoltageOfAdc(x)" value="0*(x)+12.4" />

The unit is wrong. I get 1.2V

Anyway, is there really no better way? I would not want to fly without battery monitoring.
And I mean, what is the point in flying in energy control mode, if the energy can not be measured?

And also, my Spektrum receiver seemed to have stopped working. I have not dug around alot with that. Can't blame it on master quite yet.
The RC fields in telemetry are static.


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