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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