2009/8/14 A. Fatih Şenkul
<address@hidden>
Re: throttle management in AUTO2
Hello all;
I newly subscribed to this mail group.
I want to know the configuration of throttle in AUTO2 mode, i.e how does it arrange the throttle percentage as the plane maneuvers in the sky. You can explain me showing the related code/s if possible.
Thank you;
Fisek
2009/8/14
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When replying, please edit your Subject line so it is more specific
than "Re: Contents of Paparazzi-devel digest..."
Today's Topics:
1. reply to "flight plan block activation from the rc tx (Pascal
Brisset)" (chris)
2. New path instruction (Pascal Brisset)
3. CGS Programing Language (Rui Costa)
4. Fly with IMU for fix wing aircraft and helicopter?
(=?big5?B?s6IgZmx5aW5nIHBpZw==?=)
5. New Autopilot - Tiny v3 (Rui Costa)
6. Re: Airframe debug problem,stop at ap.elf (Pascal Brisset)
7. Re: questions on flight plan (Pascal Brisset)
8. Re: Mark Button (Pascal Brisset)
9. Re: throttle management in AUTO2 (Pascal Brisset)
----------------------------------------------------------------------
Message: 1
Date: Thu, 13 Aug 2009 20:28:24 +0300
From: chris <address@hidden>
Subject: [Paparazzi-devel] reply to "flight plan block activation from
the rc tx (Pascal Brisset)"
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed
Thank you Pascal That is exactly what i want.
I have a flight plan that the only thing it does is a photo run and it
includes
a Standby block.
I tested successfully an auto take off without the use of the transmitter
(i throw away the aircraft after running in order to achieve 11 km/h and
enable the motor)
so i am searching for a way to eliminate the ground station for this simple
flight plan.
I know that there are hidden danger in it but i test in remote areas and
controled
areas.
Chris
------------------------------
Message: 2
Date: Thu, 13 Aug 2009 19:32:50 +0200
From: Pascal Brisset <address@hidden>
Subject: [Paparazzi-devel] New path instruction
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain; charset=ISO-8859-15; format=flowed
Hi,
answer to an old request (I cannot find it): A <path/> instruction has
been added to the flight plan language to fly over a list of waypoints.
It is simply preprocessed into a sequence of <go/> instructions. Example
in basic.xml:
<block name="Path 1,2,S1,S2,STDBY" strip_button="Path
(1,2,S1,S2,STDBY)" strip_icon="path.png">
<path wpts="1,2 S1"/>
<path wpts="S1, S2 STDBY" approaching_time="1" pitch="auto"
throttle="0.4"/>
<deroute block="Standby"/>
</block>
The list separaror is the regular _expression_ "[ \t,]+" (at least one
space, tab or comma). Extra standard attributes are allowed.
The translation produces here
<go from="1" hmode="route" wp="2" wpts="1,2 S1" no="0"/>
<go from="2" hmode="route" wp="S1" wpts="1,2 S1" no="1"/>
<go from="S1" hmode="route" wp="S2" approaching_time="1"
throttle="0.4" pitch="auto" wpts="S1, S2 STDBY" no="2"/>
<go from="S2" hmode="route" wp="STDBY" approaching_time="1"
throttle="0.4" pitch="auto" wpts="S1, S2 STDBY" no="3"/>
and it is what you will see in the GCS.
--Pascal
PS: No, it is not possible to dynamically define the waypoints list from
the GCS during the flight :-)
------------------------------
Message: 3
Date: Thu, 13 Aug 2009 17:40:51 +0000
From: Rui Costa <address@hidden>
Subject: [Paparazzi-devel] CGS Programing Language
To: address@hidden
Message-ID:
<address@hidden>
Content-Type: text/plain; charset="iso-8859-1"
Hello all,
What's the programming language of the CGS? How can I modify and compile the
CGS?
Best regards
Rui Costa
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Message: 4
Date: Fri, 14 Aug 2009 08:28:49 +0000
From: =?big5?B?s6IgZmx5aW5nIHBpZw==?= <address@hidden>
Subject: [Paparazzi-devel] Fly with IMU for fix wing aircraft and
helicopter?
To: <address@hidden>
Message-ID: <address@hidden>
Content-Type: text/plain; charset="big5"
Hi there
I am in the process of buliding up the Booz IMU, and i was wonering, does the current code allow to intergrate IMU to Tiny for fix wing and helicopter?
We will try to fly with our helipoter with IR sesnor today (it has inbuid simple stabilisation hardware from the toy company), so we are just looking with using Tiny to control the PWM signal for coaxial heclicopter. I am not sure it wil work, but we will try, i will let you guys know.
Regards
Chen
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Message: 5
Date: Fri, 14 Aug 2009 08:38:32 +0000
From: Rui Costa <address@hidden>
Subject: [Paparazzi-devel] New Autopilot - Tiny v3
To: address@hidden
Message-ID:
<address@hidden>
Content-Type: text/plain; charset="iso-8859-1"
Hello all,
Let's talk about possible new features for the new Tiny. I think it's time
to make a new autopilot based on experience acumulated from the others Tiny
boards.
We can discuss this new features by here, wiki, IRC channel or f鏎um.
*http://paparazzi.enac.fr/wiki/Tiny_v3* <address@hidden>
I will need some help with some new components and the implementation of the
software part.
Best regards
Rui Costa
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Message: 6
Date: Fri, 14 Aug 2009 11:35:04 +0200
From: Pascal Brisset <address@hidden>
Subject: Re: [Paparazzi-devel] Airframe debug problem,stop at ap.elf
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain; charset=UTF-8; format=flowed
You have to keep this line (not related to gyro):
ap.srcs += nav_survey_rectangle.c nav_line.c
--Pascal
蝡亦� wrote:
> Hi,
> I had problem when trying to remove lines of Gyro from the airframe
> file.Debuging always stopped at LD
> /home/mnw/paparazzi3/var/mnwAC/ap/ap.elf,I couldn't figure out why.I'v
> put the airframe file here http://pastebin.com/m6cb0a486.
> Help me out.
>
> Thanks all.
> ------------------------------------------------------------------------
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
------------------------------
Message: 7
Date: Fri, 14 Aug 2009 11:50:24 +0200
From: Pascal Brisset <address@hidden>
Subject: Re: [Paparazzi-devel] questions on flight plan
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed
Hi Steve,
there is an "old" feature using procedures:
http://paparazzi.enac.fr/wiki/Flight_Plans#Procedures
But it will require a reflash of your autopilot.
The NavSetGroundReferenceHere() function translates the waypoints around
the current GPS location. It's easy to write a similar function to
do a rotation (for example around HOME). You only need a way to specify
the heading you want. You could use a specific waypoint. The procedure
would be:
- NavSetGroundReferenceHere()
- set a waypoint (XX)
- NavRotateAroundHOME(WP_XX)
hth
--Pascal
Steve Ross wrote:
> Most of the flight plans can be used in any places by using the
> relative coordinates of the waypoints to the HOME location, one thing
> I don't understand is how people aligned the fields in the flight
> plans to the new flying fields. Suppose I have the "versatile.html" as
> my flight plan in mind and arrive at a new field and choose one
> location as my HOME waypoint and find a runway to take off. Do I have
> to bring a *compass* to know the orientation of the field in the
> flight plan to the current field I arrive at? Otherwise, it's likely
> that my field will be a *rotation* of the field in the flight plan
> around the waypoint HOME. I may think that the other waypoints in the
> flight plan are located within the actual field but in actuality some
> of the waypoints are out of the boundary of the actual field due to
> the wrong assumption of the *rotation* on the field in the flight
> plan. If I discover that my assumption is wrong after I arrive at that
> field, is there any quick and easy way to rotate and create a new
> flight plan at the field? (One command that rotate all of the
> waypoints in the flight plan to allign with actual field around the
> HOME?).
>
> Thanks a lot.
> ------------------------------------------------------------------------
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
------------------------------
Message: 8
Date: Fri, 14 Aug 2009 11:51:46 +0200
From: Pascal Brisset <address@hidden>
Subject: Re: [Paparazzi-devel] Mark Button
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed
Daniel Bedenko wrote:
> Is there a way to activate the MARK button from the transmitter?
No, this is a GCS feature: the autopilot does not know anything about it.
--Pascal
>
> Daniel Bedenko
> http://airsea.ucsd.edu/
> ------------------------------------------------------------------------
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
------------------------------
Message: 9
Date: Fri, 14 Aug 2009 12:02:51 +0200
From: Pascal Brisset <address@hidden>
Subject: Re: [Paparazzi-devel] throttle management in AUTO2
To: address@hidden
Message-ID: <address@hidden>
Content-Type: text/plain; charset=ISO-8859-1; format=flowed
Hi,
not, there is no minimum throttle in AUTO2. You can hack main_ap.c (line
589), replacing
ap_state->commands[COMMAND_THROTTLE] = v_ctl_throttle_slewed;
by
ap_state->commands[COMMAND_THROTTLE] = Min(MAX_PPRZ *
MY_MIN_AUTO2_THROTTLE, v_ctl_throttle_slewed)
--Pascal
chris wrote:
> Hi.
> I have a hard time keeping the plane flying in a very difficult place
> due to strong and very very
> turbulent wind area.
> Thermals are so strong that can crash the plane easily.
> Yesterday i fell in to a microburst that was there for 2 or 3 minutes
> and then vanished.
> I almost lost the plane as it was sucked down at full throttle in
> MANUAL mode.
> Imagine seeing a plane flying straight at 60 -70 meters and suddenly
> losing 50 meters without
> changing attitude, it just sunk and everybody there said that they
> have never experienced something like that again.
> Is there any way to increase the minimum throttle in auto2?
> I just don't want the plane to fly with anything lower than 60%
> throttle except
> when descending.
> Chris
>
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
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