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Re: [Paparazzi-devel] MODE1 & MODE2 limited ROLL to 45deg

From: Felix Ruess
Subject: Re: [Paparazzi-devel] MODE1 & MODE2 limited ROLL to 45deg
Date: Wed, 21 Mar 2012 11:13:24 +0100


Gautier wrote:

In the simulator, the max roll angle is bounded (hard coded, sw/simulator/flightModel:149) to 0.7 rad.

Ok, I changed the sim to take ROLL_MAX_SETPOINT instead of the hardcoded 40degrees.

For the nav radius, I can set it to any value while flying the STANDBY block of basic FP. For the survey, the radius is statically set by the grid attribute. The radius of the circles will be half of it (so grid="50" for a 25m radius turn). If you use a variable to change it dynamically, you will have to go out of the survey block and enter again.


I vaguely remember having some problem with the max roll in Nav as well (I think it was related to the speed).

But in Auto1 there should be no problem to reach the MAX_ROLL that was set in the AUTO1 section. I know that I flew with 55deg max in Auto1.
Eduardo, you can confirm that it really was not working in Auto1? You changed the value in the airframe file, reflashed and checked again?
If you change the max_roll via settings (e.g. using the standard tuning.xml settings file), you only change the max roll angle for Nav, the max roll angle for Auto1 is always limited by the define AUTO1_MAX_ROLL.

Cheers, Felix

On Wed, Mar 21, 2012 at 9:22 AM, Christophe De Wagter <address@hidden> wrote: 


On Wed, Mar 21, 2012 at 5:52 AM, Eduardo lavratti <address@hidden> wrote:
Hello, i am testing mi lisa_m and twog for a week.
For now i am tunnig the ppz and found some problems with MAX ROLL .

Changing the MAX_ROLL to more than 45deg in AUTO1 the attitude never go more than 45deg.
My config are setting to 70deg but in flight never go more than 45deg.

In AUTO2 the same occour.
I set de SETPOINT_MAX_ROLL to 70deg but the plane never go more than 45deg.

Felix make some tests in simulation and confimed the problem.

another problem is :
I never can do STAND-BY or another extra navigation with radius less than 50.

For my purpouse i need make a survei with 25m grid.

With another autopilot my plane make close turns less than 25m without problem.

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