Re: [Paparazzi-devel] Setting servos in AUTO2?

[pascal . brisset]

Hi,

ap_state->commands[COMMAND_ROLL] (resp. PITCH) is set with 
h_ctl_aileron_setpoint (resp. h_ctl_elevator_setpoint), c.f.
main_ap.c:592

h_ctl setpoints variable are set by the h_ctl_attitude_loop() (from fw_h_ctl.c) 
loop) which can be disabled with the
h_ctl_disabled flag. So you can write something like

  <set var="h_ctl_disabled" value="true"/>
  <set var="h_ctl_aileron_setpoint" value="0"/>
  <set var="h_ctl_elevator_setpoint" value="MAX_PPRZ/2"/>
  .... waiting for a condition ...
  <set var="h_ctl_disabled" value="false"/>


--Pascal


----- Original Message -----
From: "Steven Wawryk" <address@hidden>
To: address@hidden
Sent: Thursday, 28 May, 2009 09:35:01 GMT +01:00 Amsterdam / Berlin / Bern / 
Rome / Stockholm / Vienna
Subject: [Paparazzi-devel] Setting servos in AUTO2?


Hi,

What would be the best way to set servos to defined positions?

I would like to do this as part of preflight testing, and possibly to avoid 
having the servos flapping around before launch.

While trying out, I've tried setting the ap_state commands (eg 
ap_state->commands[COMMAND_PITCH]) from the flight plan, before any 
go/attitude/heading/etc elements (hoping to prevent any control loops from 
being 
activated).  Unfortunately, there seems to be something else periodically 
adjusting commands according to the COMMANDS messages in the telemetry log.

Steve



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