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From: | Eduardo lavratti |
Subject: | Re: [Paparazzi-devel] another fatal crash |
Date: | Fri, 1 Jun 2012 05:34:02 +0000 |
wow .. more friends with same problema.
well, i simulated this problem and re-checked all my config. i changed some parameter in V_CTL and the simulation are working very well for now. try change your v_ctl with this parameters and publish the result here : <section name="VERTICAL CONTROL" prefix="V_CTL_"> <define name="POWER_CTL_BAT_NOMINAL" value="16.0" unit="volt"/> <!-- outer loop --> <define name="ALTITUDE_PGAIN" value="0.05"/> <!-- <define name="ALTITUDE_PGAIN" value="0.0869999974966" unit="(m/s)/m"/>--> <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/> <!-- auto throttle inner loop --> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.9"/> <define name="AUTO_THROTTLE_LOITER_TRIM" value="2000" unit="pprz_t"/> <!-- elevador trim para voo loiter (lento) --> <define name="AUTO_THROTTLE_DASH_TRIM" value="-1500" unit="pprz_t"/> <!-- elevador trim para voo dash (rapido) --> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/> <!-- 0.1 --> <define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/> <!--0.02--> <define name="AUTO_THROTTLE_IGAIN" value="0.25"/> <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/> <!-- 0.05 pitch devido a erro altitude --> <!-- auto airspeed and altitude inner loop --> <define name="AUTO_GROUNDSPEED_SETPOINT" value="15.0" unit="m/s"/> <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/> <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/> <define name="AUTO_PITCH_PGAIN" value="0.145"/> <define name="AUTO_PITCH_IGAIN" value="0.025"/> <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/> <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/> <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/> </section> Date: Fri, 1 Jun 2012 09:22:40 +0530 From: address@hidden To: address@hidden Subject: Re: [Paparazzi-devel] another fatal crash Hi all, I am also using the latest repository, yesterday I found when i engage AUTO2 throttle stops completely. In Manual I could fly well but moment I engage AUTO2 throttle gets cut and aircraft starts falling down. Anybody please suggest how to rectify this problem? I am also trying to find the reason for the throttle cut, but nothing clicked yet. Another problem I faced was during flight In Auto2 Iam unable to change the gains from the Ground control station? When on Ground I tried this exercise of changing gains in AUTO2 it works well. Are there any altitude limitations? or I should ensure Aircraft is level? or any other settings that needs to be done? Kindly help -- Thanks and Regards R.Guruganesh On Fri, Jun 1, 2012 at 9:03 AM, Eduardo lavratti <address@hidden> wrote:
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