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

[Felix Ruess]

Chris,

this is a really nice explanation! Maybe you can put that into the wiki? ;-)

Cheers, Felix

On Tue, Aug 17, 2010 at 8:04 PM, Edixon Giraldo <address@hidden> wrote:
> 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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>
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