RE: [Paparazzi-devel] Re: AUTO2 throttle management

[Roman Krashanitsa]

Hi Chrostophe,

 

Is it ok to ask you if you could share the log file (or part of it) where your airplane is flying at very strong wind?

Absence of airspeed sensor makes things a bit difficult in Paparazzi, but I have some Ideas to use statistical methods of estimation flight quality to make airplane constrain throttle and control surfaces. Your log file will help alot.

 

 

Thanks,

Roman

---

From: address@hidden [mailto:address@hidden On Behalf Of Christophe De Wagter
Sent: Saturday, June 14, 2008 11:33 AM
To: address@hidden
Subject: [Paparazzi-devel] Re: AUTO2 throttle management

Hi Uttam,

 

Living in the windy Netherlands we encountered this problem quite often. I would even add the following to your observations. When the ground speed (temporarily) becomes negative the navigation turns the wrong way as it uses the estimator_hspeed_dir which is defined as atan2 of the GPS speeds. So we added a line to use the heading instead of the ground track for any turn over 60 degrees. (This is a big recommendation as things get increasingly nasty if the plane turns the wrong way in high winds)

 

Concerning forward speed, adding quite some of "pitch_of_vz" helps a lot (similar to the PITCH_LOOP but keeping the THROTTLE_LOOP active). Furthermore the loiter-cruise-dash trims are very useful to overcome the wind. By adding a pitch down trim, a sufficient auto throttle i_gain will automatically find a higher throttle setting to maintain altitude and the result will be a faster forward speed... finally getting you somewhere. But there is also a ground speed loop if you are interested: #define NAV_GROUND_SPEED_PGAIN. If you use this one in high winds, make sure your throttle_cruise_min is high enough to maintain altitude when flying downwind. Last month we flew at >11m/s wind speeds and our 390 gram 50cm MAV handled the weather very well, while manual flight had became close to impossible as combination of the gusts and visibility issues.

 

Christophe

 

On 6/12/08, address@hidden <address@hidden> wrote:

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Today's Topics:

  1. Auto2 data log? (Daniel Morgan)
  2. Missing TWOG design and gerbers? (David Conger)
  3. AUTO2 throttle management (Uttam Chandrashekhar)
  4. AUTO2 throttle management (Uttam Chandrashekhar)
  5. Re: Missing TWOG design and gerbers? (address@hidden)
  6. RE: Missing TWOG design and gerbers? (address@hidden)


---------- Forwarded message ----------
From: "Daniel Morgan" <address@hidden>
To: address@hidden
Date: Wed, 11 Jun 2008 12:54:21 -0600
Subject: [Paparazzi-devel] Auto2 data log?
Hey can anyone send me their data log with an auto2 sucess... It would be nice if there was a circle in it and some other things like a line or a survey or something... I just need to compare the data from my flight logs..(i am having weird issues with my course)


---------- Forwarded message ----------
From: David Conger <address@hidden>
To: address@hidden
Date: Wed, 11 Jun 2008 16:00:34 -0700
Subject: [Paparazzi-devel] Missing TWOG design and gerbers?
I'm confused, one of the vendors Halfbase has the TWOG listed as available but there are no gerbers or design files posted on the Wiki? Did someone skip posting to the Wiki and go straight to Halfbase? Confused. I'd like to make some TWOG PCB but can't without either the design or gerber files.

-David





---------- Forwarded message ----------
From: Uttam Chandrashekhar <address@hidden>
To: address@hidden
Date: Thu, 12 Jun 2008 11:21:18 +0530 (IST)
Subject: [Paparazzi-devel] AUTO2 throttle management

Hi guys,

We've been flying AUTO2 for a while now, I  have a question regarding throttle management in AUTO2. When we flew the day before, winds were gusting from between 6-10m/s. In a stiff headwind, the plane rapidly gains altitude without any throttle. What the paparazzi seems to be doing is since it's already xx meters above target, it keeps the throttle really low, about 9%, and tries descending, as a result of which the plane goes no where in the headwind. I agree the winds were bad that day, but in AUTO1 or MANUAL, with higher throttle, penetration is pretty good. Any ideas on how to solve this problem? Should I try the non default mode of vertical control by keeping throttle fixed and using only PITCH corrections??


-Thanks,
Uttam

 

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---------- Forwarded message ----------
From: Uttam Chandrashekhar <address@hidden>
To: address@hidden
Date: Thu, 12 Jun 2008 11:23:15 +0530 (IST)
Subject: [Paparazzi-devel] AUTO2 throttle management

Hi guys,

We've been flying AUTO2 for a while now, I  have a question regarding throttle management in AUTO2. When we flew the day before, winds were gusting fro between 6-10m/s. In a headwind, the plane rapidly gains altitude without any throttle. What the paparazzi seems to be doing is since it's already xx meters above target, it keeps the throttle really low, about 9%, and tries descending, as a result of which the plane goes no where in the headwind. I agree the winds were bad that day, but in AUTO1 or MANUAL, with higher throttle, penetration is pretty good. Any ideas on how to solve this problem? Should I try the non default mode of vertical control by keeping throttle fixed and using only PITCH corrections??


-Thanks,
Uttam

 

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---------- Forwarded message ----------
From: address@hidden
To: address@hidden
Date: Thu, 12 Jun 2008 12:10:16 +0200
Subject: Re: [Paparazzi-devel] Missing TWOG design and gerbers?
Hi,

no gerber or design files for the TWOG have been published yet. Michel has just
mounted one and is currently testing it. Thanks to the results of these tests,
he will publish the files. We suppose the picture displayed at
http://shop.halfbase.com is the one coming from the Paparazzi wiki
(http://paparazzi.enac.fr/wiki/index.php/Twog_v1). The only source for software
or hardware in this project is the wiki website and the CVS repository. We do
not send files directly to anybody.

This message is an opportunity for me to make a remark: We are really pleased
that people around the world build and sell hardware for the Paparazzi project.
However, I'm quite surprised that no link to paparazzi.enac.fr appear on the
sellers' websites. It would be nice to have at least one link to
paparazzi.enac.fr behind each Paparazzi icon and a link to the corresponding
design files for each product. I think it would help to convince ENAC to
continue to support this project ...

Thanks

--Pascal







Selon David Conger <address@hidden>:

> I'm confused, one of the vendors Halfbase has the TWOG listed as
> available but there are no gerbers or design files posted on the Wiki?
> Did someone skip posting to the Wiki and go straight to Halfbase?
> Confused. I'd like to make some TWOG PCB but can't without either the
> design or gerber files.
>
> -David
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>







---------- Forwarded message ----------
From: address@hidden
To: address@hidden
Date: Thu, 12 Jun 2008 04:43:11 -0700
Subject: RE: [Paparazzi-devel] Missing TWOG design and gerbers?

Pascal,
Wonderful words.  I for one continue to forget the work that goes on behind the scenes so that people can fly paparazzi. 

AJ

-------- Original Message --------
Subject: Re: [Paparazzi-devel] Missing TWOG design and gerbers?
From: address@hidden
Date: Thu, June 12, 2008 3:10 am
To: address@hidden

Hi,

no gerber or design files for the TWOG have been published yet. Michel has just
mounted one and is currently testing it. Thanks to the results of these tests,
he will publish the files. We suppose the picture displayed at
http://shop.halfbase.com is the one coming from the Paparazzi wiki
(http://paparazzi.enac.fr/wiki/index.php/Twog_v1). The only source for software
or hardware in this project is the wiki website and the CVS repository. We do
not send files directly to anybody.

This message is an opportunity for me to make a remark: We are really pleased
that people around the world build and sell hardware for the Paparazzi project.
However, I'm quite surprised that no link to paparazzi.enac.fr appear on the
sellers' websites. It would be nice to have at least one link to
paparazzi.enac.fr behind each Paparazzi icon and a link to the corresponding
design files for each product. I think it would help to convince ENAC to
continue to support this project ...

Thanks

--Pascal







Selon David Conger <bmw330i@mac.com>:

> I'm confused, one of the vendors Halfbase has the TWOG listed as
> available but there are no gerbers or design files posted on the Wiki?
> Did someone skip posting to the Wiki and go straight to Halfbase?
> Confused. I'd like to make some TWOG PCB but can't without either the
> design or gerber files.
>
> -David
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> Paparazzi-devel@nongnu.org
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>




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