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

From: Tilman Baumann
Subject: Re: [Paparazzi-devel] Successful flights with total energy control loops !
Date: Fri, 28 Sep 2012 10:32:51 +0100
User-agent: Mozilla/5.0 (X11; Linux i686; rv:15.0) Gecko/20120907 Thunderbird/15.0.1

On 28/09/12 08:21, Christophe De Wagter wrote:
Energy Control refers to altitude+aispeed in the control loop and not voltage+current.
Thanks. I guess the POWER_CTL_BAT_NOMINAL field in vertical_control made me think that it would care about battery stuff as well.

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.

I don't mind testing the bleeding edge. Especially since I had to rethink control anyway for use of airspeed sensor.
But yea, battery sense is essential. I have had so many near disasters because of low battery before. Not a risk I like to take right now.

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

I will test that.  Thanks.

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