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Re: [Paparazzi-devel] aircraft path offset

From: Felix Ruess
Subject: Re: [Paparazzi-devel] aircraft path offset
Date: Wed, 28 Mar 2012 19:39:28 +0200

Hi Mitchel,

as Christoph said the pre_bank_correction might be used to improve this.
However it sounds like there is a different issue as it should of course work the same, regardless which direction you are circling...
I presume you are using the master branch?

Having a quick look at nav_circle_XY in nav.c it seems like the circle_bank is not set if you are too far outside the circle... but that should not only depend on the distance to the circle, but the direction as well... Maybe this is the issue, maybe I'm missing something?
Gautier, Christophe or anyone with more fixedwing nav knowledge can clear this up?

Cheers, Felix

On Wed, Mar 28, 2012 at 6:46 PM, Christoph Niemann <address@hidden> wrote:

Hi Mitchel,

I would recommend using course pre bank correction to solve this.



Am 28.03.2012 18:22 schrieb "Michel MITCHELL" <address@hidden>:
Hello Paparazzi team,

I have done successul flights in AUTO2 (Lisa/M and Easy Glider), but things can be improved.

The aircraft is always slightly offtrack with the predicted path (about a 10 meters offset, always on the left).
Below here is a screenshot  from a real flight, when doing circles.

- Circle is 50m radius, and roll max is set to 35 degrees in the aircraft config file.
- If I ask to invert the circle (-radius), I can clearly see that the aircraft is able to make sharper turns, so I don't think the system  is saturated on the roll axis.
- Aircraft flies straight in AUTO1, straight in AUTO2 when doing lines (so I presume ROLL_NEUTRAL_DEFAULT is ok)

Do you have any idea of this problem ? Where can I look at in order to improve things ?


Images intégrées 1

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