Hi,
my "flare" block is almost the same(no WP, but Home, I have reduced
the climb to -0.3 with succes!!, the <call
fun="NavStartDetectGround()"/> as no effect.
The "Holding point" block is the same...
during the end fly, I have (GCS) send messege quad approching....
ans still active upto I switch of the booz...
Many thanks,
Eric
Le 08/11/2011 14:11, Gautier Hattenberger a écrit :
Something like these blocks in your flight plan and the
FAILSAFE_GROUND_DETECT in your airframe file should be enough:
<block name="Holding point">
<call fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0"
vmode="throttle" until="FALSE"/>
</block>
...
<block name="flare">
<exception cond="NavDetectGround()" deroute="Holding
point"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
</block>
Change the climb rate if you want to go down faster.
G.
On 08/11/2011 14:06, Eric BAHIER wrote:
hi,
Thank for your answersss,
I have tried so growup the PGAIN, I will continue to ++ PGAIN,
en try to fly probably this afternoon ends,
before rewrtting any code, I try to use the debug-tested-one...
I have some week of work before take time to go in the code, I
will look the controls loops 2011 end2012 begin... Before try to
build anythings I will be to you.
for the ground detection.... I have try to setup-it in the flare
loop, I have a very slow down fly with my parameters....for the
ground dection my setup is bad, do you have some syntax
information???
regards,
Eric
Le 08/11/2011 13:49, Gautier Hattenberger a écrit :
Hi,
You can't really control the ground speed with the current
control loops. If you want it to fly faster, you need to
increase the PGAIN, but if it gets to high, you may have some
oscillations at hover.
I've tried some other solutions to integrate the flight speed
in the control loops, without good results yet. If you want to
try some new control laws, you're welcome !
For your ground detection issue, does your flight plan
activate the detection during the flare like in
rotorcraft_basic.xml ?
Gautier
On 07/11/2011 18:14, Eric BAHIER wrote:
Hi,
I am back from the field, today no water, nowind....This
month in south of france it is an GOOD day!
I ha have move the quad to NAV :
takeof with the mouse
up to 5more meter with mouse,
mow down 5meters with the mouse,
flare nice with slow down fly upto ground.
The circuit from home, P1,P2,home... is almost clean.
Why almost? , The quad move to P1 and it stay at 1 or 2
meters to P1, and try too gently to find it, if I move(with
mouse) P1 on the quad, it fly to P2......the same in P2
The translation is very slow...
After the travel fly, a automatique flare... about 1 meter
error from the takeoof point (les than the GPS precision)
Please is it possible to manage more agressive fly to point,
or to manage the "size of the point", to define 1,2,3 meters
error to accepte it?
Where is it possible to setup a higger flyspeed when the
quad move to way point?
Next days, higger wind... could be better for test.... or
crash....
Best regards,
Eric
Le 02/11/2011 17:53, Eric BAHIER a écrit :
hi,
I will move to NAV, and I'll define only one stand-by
point.... In this case th AP_MODE_Failsafe will be
applicable, and efficient..
Thanks,
Eric
Le 02/11/2011 17:45, Gautier Hattenberger a écrit :
Hi,
There is no "almost" nav mode. Being in nav mode means
that you are using the flight plans instructions to fly.
If you really want to only hover while being in this
mode, you can just make a flight plan that waits for the
gps and then saty at a given waypoint.
Also the horizontal control loops in hover and nav mode
are slightly different, so if you tune in hover, your
flight in nav may not be as good. So if your goal is to
flight in nav mode, trim it in this mode. If you want to
fly manually and hover from time to time, trim using
hover mode.
Gautier
On 02/11/2011 16:53, Eric BAHIER wrote:
hi felix,
In my understand, the failsafe mode began active when
we lost GPS or lost Radio, in NAV-MODE
I read it on :"http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration#Autopilot_modes",
your link :
- AP_MODE_FAILSAFE
-
This is a failsafe mode that gets triggered if:
- RC signal is lost (and you are not in KILL or
NAV mode)
- GPS and RC is lost in NAV mode
I can accept, AP_MODE_HOVER_DIRECT and
AP_MODE_HOVER_Z_HOLD are not realy in NAV mode, but
"almost nav mode".
For my test I want first to have AP_MODE_HOVER_Z_HOLD
full opperational up to ????xx km/h wind, and move to
NAV when the stationair(GPS) fly is done.
how to, to triggered the AP_MODE_FAILSAFE , for my
understand, this setup is indépendant from
manual/auto1/auto2....I missuterstand?
regards,
Eric
The autopilot will level the rotorcraft out
(setpoints to zero pitch and roll angles) and
descend at 0.5m/s downwards.
Le 02/11/2011 14:29, Eric BAHIER a écrit :
Hi,
I woulds like to use "AP_MODE_FAILSAFE ".
Currently I use :
<section name="MODE">
<define name="MANUAL"
value="AP_MODE_ATTITUDE_DIRECT" />
<define name="AUTO1"
value="AP_MODE_HOVER_DIRECT" />
<define name="AUTO2"
value="AP_MODE_HOVER_Z_HOLD" />
</section>
I would like to have "AP_MODE_FAILSAFE" active in
HOVERs mode, is it possible?
I probably lost the GPS some time in HOVER.... and
the quad go away...where it can.... If is stay and
land it could be nice for debuging.
Where, how to... I will proced to use
"AP_MODE_FAILSAFE"....
Thanks,
eric
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