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Re: [Paparazzi-devel] pitch set to 0 at stage init

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] pitch set to 0 at stage init
Date: Fri, 23 May 2014 10:59:44 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:24.0) Gecko/20100101 Thunderbird/24.4.0


This is a known "issue", with the obvious fix that consist in removing this line. But I want to be sure that it can't lead to dangerous situations like entering a block or a stage with a inappropriate nav_pitch value.
If you have some time to make some test, I will look at the control sequence to see if something can append.


Le 13/05/2014 03:45, alonso acuña a écrit :
Hi. I have been trying to fix what happens at the moment the exception is triggered in the takeoff block
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>

after reaching the altitude the pitch is quickly set to 0, the a/c levels abruptly and then starts to climb to the Standby point.

I would like to avoid that leveling and have it move nicely from the takeoff pitch to the pitch required to go to Standby.

I found that nav.c nav_init_stage() has   nav_pitch = 0.; and given that previously v_ctl_climb_mode had been set to V_CTL_CLIMB_MODE_AUTO_THROTTLE  then the leveling is what would happen.
If pitch is reset to 0 maybe v_ctl_climb_mode should be reset to something else which will not level the a/c?


Alonso Acuña

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