RE: [Paparazzi-devel] Reply to "How to adjust surface travel and throttle?, (Edixon Giraldo)" #2

[Edixon Giraldo]

This is awesome Chris!  I have been looking for this information everywhere.  Thank you so much.  I have one more question, though before I go to the field.  Yesterday when I activated my GPS I noticed it measured an altitude of 240m.  It might be a stupid question, but, is this the altitude I need to place in the flight plan file right?  Not zero? Also, if this is the case, do I need to add this value (240m) to the waypoints when I edit them?  Say, if I want to keep the cruisin altitude at 80m, do I input 80m or 320m (240m + 80m)?
 
Eddie. 
 
> Date: Tue, 17 Aug 2010 20:23:44 +0300
> From: address@hidden
> To: address@hidden
> Subject: [Paparazzi-devel] Reply to "How to adjust surface travel and throttle?, (Edixon Giraldo)" #2
>
> What Antoine said is also correct although i prefer to mechanically trim
> the aircraft
> after landing.
> Just go high and engage AUTO1 and check if the plane can roll and pitch
> correctly, no need for the gcs here but it is not a bad idea to have it
> on since it will record the flight or tests and you can later examine
> the replay data easily.
>
> <define name="HORIZ_SENSOR_TILTED" value="1"/>
> <define name="LATERAL_CORRECTION" value="1.0"/>
> <define name="LONGITUDINAL_CORRECTION" value="1.0"/>
> <define name="VERTICAL_CORRECTION" value="1.5"/>
>
> Example:
> Make a stand of some kind which will enable to roll the aircraft and
> leave it there while
> working with the gcs.
> Make a table on a paper like this
> actual roll is the actual roll of the plane on the stand, pfd roll is
> the indicated roll
>
> actual roll=0 actual roll=30 actual roll=-30
>
> pfd roll= 0 pfd roll=25 pfd roll= -25
>
> This indicates that the <define name="VERTICAL_CORRECTION" value="1.5"/>
> needs to go up to (30/25)*1.5 = 1.8
> (This will multiply the actual adc reading of the vertical sensor by 1.8
> instead of 1.5)
> or set the <define name="CORRECTION_LEFT" value="1."/> and
> <define name="CORRECTION_RIGHT" value="1."/>
> to (30/25)*1 = 1.2
> It could be the opposite i dont remember exactly.
> Do the same for the pitch angles and you will have a fully calibrated
> PFD which is essential.
>
> For the throttle fist make sure that the GCS is also reporting 0% when
> the throttle stick is at the bottom or 100% when the stick is at the top
> (please remove the propeller first :-) )
> The battery voltage defined at the airframe file MUST BE the same as the
> battery voltage.
> For a fully charged 3 cell lipo that is 12.6v
> <section name="BAT">
> <define name="MILLIAMP_AT_FULL_THROTTLE" value="45000"/>
> <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
> <define name="CRITIC_BAT_LEVEL" value="10.0" unit="V"/>
> <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
> <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
> </section>
> In order to adjust the throttle in AUTO2 for cruise speed just edit
> those lines
> (let's say that your plane needs to have the throttle stick at the
> middle for a sustained level flight in manual)
> in the airframe file:
> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/>
> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.50" unit="%"/>
> Then the minimum throttle for a level cruise will not go lower than 50%
> Of course if the plane is descending or ascending then the throttle will
> go below and above 50%.
> Chris
>
>
>
>
>
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