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Re: [Paparazzi-devel] Changed roll sign in 4.0_beta.

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Changed roll sign in 4.0_beta.
Date: Tue, 20 Mar 2012 20:42:08 +0100

Hi Helge,

that indeed would have been the correct thing to do.
But we just pushed some further sign fixes to 4.0_beta... so you don't have to do that, but instead fix the command_laws and/or servos sections as I wrote in the email about these changes in 4.0_beta.

Thanks a lot for testing!!

Cheers, Felix

On Tue, Mar 20, 2012 at 10:20 AM, Helge Walle <address@hidden> wrote:
Hi again,
It seems my mail yesterday got corrupted where I showed the changes I had done to my airframe file.
What I did was inverting the ROLL command in the rc_section by putting a minus in front of the at sign.
I was wondering if this is the best way to compesate for the sign change of the roll channel in 4.0_beta.
Or is there a better way?

Den 21:58 19. mars 2012 skrev Helge Walle <address@hidden> følgende:


My Funjet is set up in the Master branch with correct elevon response in Manual and Auto1. I use imu type="ppzuav" and "float_dcm".
I have not flown it yet, but assume that the elevons will work correctly in Auto2 as long as they deflect and stabilise correctly in Auto1.

I switched to 4.0_beta and inverted the the ROLL channel in my radio file. I now have positive PPRZ values in the RC message with the aileron stick pulled right, elevator stick pulled up (UP elevator), and rudder stick pulled right.

By now the elevon response was no longer correct.

I then changed:
<set command="ROLL"         value="@ROLL"/>
<set command="ROLL"         value="address@hidden"/>
in the <rc_commands> section.

Now all seems to work ok.

My command laws are just a copy of the laws in funjet_example.xml.

Does this sound sensible? Any feedback would be welcome.


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