[Paparazzi-devel] Re: Bug that needs fixing

[Pascal Brisset]

Hi Anton,

address@hidden wrote:
> Pascal,
> found a nasty bug in the code today.  If you use vmode="gaz" and give a gaz
> setting gaz="?" you are unable to also specify a pitch angle.  This may be a
> bug from adding autopitch I am unsure.  Good luck

 You are right.
 Before the auto_pitch mode was added, "desired_pitch" was computed in 
navigation_task() (main.c) with
        desired_pitch = nav_pitch + pitch_of_vz;
and it was independent from the current vertical mode.

 This line has been unfortunately moved into climb_pid_run() (pid.c) which is 
called only with a vertical_mode greater than AUTO_CLIMB (i.e. CLIMB or ALT).

 This is now fixed:
  - climb_pid_run() computes (if auto_pitch) or updates (else) nav_pitch ;
  - desired_pitch is always set to nav_pitch in navigation_task()

Please check the source code before flying ...

--Pascal