[Paparazzi-devel] Reply to: "Rudder not working (Luiz Flavio Felizardo)"

[Chris]

Of course it won't work for two reasons.
1) the autopilot does not use the rudder unless it is told to.
2) you need to modify your airframe file like this:
<servos>
<servo name="AILERON"        no="0" min="2000"    neutral="1480" 
max="1000"/>
<servo name="ELEVATOR"        no="1" min="2000"    neutral="1500" 
max="1000"/>
<servo name="MOTOR"        no="2" min="1100"    neutral="1100"  max="2000"/>
<servo name="RUDDER"        no="3" min="1000"    neutral="1500" max="2000"/>
</servos>

<commands>
<axis name="ROLL"        failsafe_value="0"/>
<axis name="PITCH"        failsafe_value="0"/>
<axis name="THROTTLE"        failsafe_value="0"/>
<axis name="YAW"        failsafe_value="0"/>
</commands>

<rc_commands>
<set command="ROLL"          value="@ROLL"/>
<set command="PITCH"         value="@PITCH"/>
<set command="THROTTLE"      value="@THROTTLE"/>
<set command="YAW"        value="@YAW"/>
</rc_commands>

<section name="MIXER">
<define name="COMBI_SWITCH" value="0.5"/>
</section>

<command_laws>
<set servo="AILERON"        value="@ROLL"/>
<set servo="ELEVATOR"        value="@PITCH"/>
<set servo="MOTOR"        value="@THROTTLE"/>
<set servo="RUDDER"        value="@YAW + @ROLL*COMBI_SWITCH"/>
</command_laws>

<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 
AND AUTO1 -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
</auto_rc_commands>

Read the wiki one more time i am sure this will help you fill the gaps.
I have read the wiki pages more than 100 times :-)
Chris