Re: [Paparazzi-devel] Dumb question about Booz

[antoine drouin]

Hi Eric

The Z_HOLD vertical mode has the "feature" that the throttle stick
acts as a limiter. That is, the throttle command will be the minimum
of what the autopilot requests and what your stick requests. So if
you're hovering with DIRECT vertical control and you switch to Z_HOLD,
the transition should be smooth as the autopilot will request the same
throttle than what you were giving in manual. Nevertheless, after
switching, you should move your throttle stick up to allow the
autopilot the authority to compensate disturbances.
I had implemented this "limiter" feature when I started developing the
vertical control code as a mean to make sure I would always be able to
quickly ground the vehicle if something went wrong. I think that
feature should be made optional and am adding that to the TODO list.

Regards

Poine

ps : you may also like to try the RC_CLIMB vertical mode where the
position of your throttle switch controls your altitude in an
incremental way ( stick centered, stays where it is )


On Fri, Jul 9, 2010 at 5:57 PM, Eric Parsonage <address@hidden> wrote:
> Hi All
> I have manual  mode configured as  BOOZ2_AP_MODE_ATTITUDE_DIRECT  What I
> want to know is what happens at the instance  I switch to AUTO_1 which is
> configured as BOOZ2_AP_MODE_HOVER_Z_HOLD
> Say I am at half throttle in manual and switch to Auto_1 then won't I drop
> out of the sky since anything less than full throttle after this switch will
> cause the quad to descend ?
> Regards
> Eric
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