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Re: [Paparazzi-devel] Auto Pitch


From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Auto Pitch
Date: Mon, 21 May 2012 00:03:03 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:12.0) Gecko/20120430 Thunderbird/12.0.1

It just helps to find xml errors. I will fix this in the coming days, but you can leave it commented until that.

G.

Le 20/05/2012 23:48, Reto Büttner a écrit :
Hi Gautier

Thanks for your help. Commenting out the first line of the flight plan
it compiles and runs in the simulation:

<!--<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">  -->

I assume this line has some function. Can I leave it commented out?

It would be great if you could fix this.

Regards,
Reto

2012/5/20 Gautier Hattenberger<address@hidden>:
Hi,

It doesn't seems to be a generation issue but a DTD limitation (and then
it's a mistake).
Can you try to comment the first line of your flight plan so to not include
flight_plan.dtd ? If it works I will fix things correctly.

For nav_line, replace
NavVerticalAutoThrottleMode(0);
with
NavVerticalAutoPitchMode(throttle);
where "throttle" is the throttle setpoint in pprz unit (between 0 and 9600).

Gautier

Le 20/05/2012 21:24, Reto Büttner a écrit :

Hi Gautier

Thanks for your explanations. When I configure my flight plan as follows:

<block group="home" key="F8" name="Figure 8 Auto Pitch"
strip_button="Figure 8 Auto Pitch" strip_icon="eight.png">
   <eight center="1" radius="nav_radius" turn_around="2" pitch="auto"
throttle="0.75"/>
</block>

I get the error when building:

Unexpected attribute : 'PITCH'
make: *** [ap.ac_h] Error 1

When I read the code in fp_proc.ml I assume the figure eight does not
expect a pitch or throttle attribute. This is my interpretation not
really knowing OCaml.

Where do I need to set the pitch attribute for the figure eight
navigation pattern?

To fly the nav_line navigation pattern in auto pitch mode, how would I
need to change the indicated lines (nav_line.c:81):

NavVerticalAutoThrottleMode(0); /* No pitch */
NavVerticalAltitudeMode(WaypointAlt(l1), 0.);

Best regards,
Reto

2012/5/19 Gautier Hattenberger<address@hidden>:
Hi,

There is no vmode="pitch".
The possible values for vmode are alt, climb, throttle and glide
(http://paparazzi.enac.fr/wiki/Flight_Plans#Navigation_modes).
Also the vertical mode is independent of the horizontal mode, so you
should
be able to set it with any build-in patterns. This is the case of "eight"
but not "nav_line" which is a custom navigation pattern that sets the
vertical mode by itself (subsystems/navigation/nav_line.c:81).

So, if you want to do altitude control with auto pitch and fixed throttle
with regular patterns: pitch="auto" throttle="xxx" (don't set
vmode="throttle", it would disable the altitude control)

Gautier

Le 18/05/2012 20:14, Reto Büttner a écrit :
Hi guys

How can be the figure eight of line be flown in vmode auto pitch
(instead of auto throttle)?

I find the according parameters only in the "go", "path" and "circle"
primitive. Not in "eight" nor in "nav_line":

pitch="auto"
throttle="0.75"
vmode="pitch"

By the way, is there a difference between pitch="auto" and
vmode="pitch"?

Cheers,
Reto

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