RE: [Paparazzi-devel] Throttle dies in auto2

[Roman Krashanitsa]

I found the problem. It seems that nav_desired_gaz should be specified at least 
once taking into account logics of the flight plan. For example, if gaz is 
specified only once in the init block, the program may skip it due to (launch 
&& z>ALT) already true and this variable will be left at 0, like in my case 
when it is being launched in manual.

As a solution for silly people like me, we could modify nav.c:359 from
uint16_t nav_desired_gaz;
To
uint16_t nav_desired_gaz=TRIM_UPPRZ((FAILSAFE_DEFAULT_GAZ)*MAX_PPRZ);

Or add
nav_desired_gaz=TRIM_UPPRZ((FAILSAFE_DEFAULT_GAZ)*MAX_PPRZ);
To nav_init(void)

Best regards,
Roman

> -----Original Message-----
> From: 
> address@hidden 
> [mailto:address@hidden
> rg] On Behalf Of Pascal
> Sent: Wednesday, August 30, 2006 2:56 PM
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Throttle dies in auto2
> 
> 
> Hi Roman, Hi Anton,
> 
> the default is "no slew" (pid.c:131, CLIMB_MAX_DIFF_GAZ=1).
> 
> What is expected (from what I reread in the code):
>   - MANUAL: no control on the throttle, you get what you set 
> on the stick
>   - AUTO1, AUTO2: slew is active: you cannot immediately go from 
> throttle=0 to throttle=100%. The variation in time is limited by 
> CLIMB_MAX_DIFF_GAZ
> 
> MANUAL -> AUTO1|AUTO2 :
>  Before the switch
>   - desired_gaz is set (main_ap.c:258)
>   - pid_slew() is run (main_ap.c:462)
>  so the controller follows (with a delay) your manual 
> throttle command 
> (of course this desired_gaz value is unused by the fbw 
> process in this mode)  After the switch: desired_gaz smoothly 
> evolves from the current value 
> to the one computed by the controller (AUTO2) or set by the 
> stick (AUTO1)
> 
>  So I can't explain the problem you observe ... And I can't 
> reproduce it 
> with the simulator :-(
> 
>  About the CLIMB_MODE_PITCH: desired_gaz is set to 
> nav_desired_gaz which 
> is set by the navigation task, i.e. the flight plan.
> 
>  So we will have to boot a plane to figure out the problem. I 
> think we 
> almost never flew in MANUAL since the slew control was implemented ...
> 
>  Last remark: do we really want the slew in AUTO1 ?
> 
> --Pascalr
> 
> address@hidden wrote:
> 
> > Roman,
> > Ive seen this before.  What climb mode are you using?  If you arent
> > specifying
> > then Im pretty sure that part functions.  However There is 
> a throttle 
> > slewing
> > built in, Pascal would have to tell you whether its default 
> on or not, 
> > as I
> > dont have code infront of me.
> >
> > Anton
> >
> >
> > Quoting Roman Krashanitsa <address@hidden>:
> >
> >> Guys, I have this weird behavior while flying in manual/auto1 and 
> >> then switching to auto2. First the throttle dies to 0, then slowly 
> >> goes up to the required value. Im I doing something wrong?
> >>
> >> I suspect that this is related to the initial value of 
> >> nav_desired_gaz variable in nav.c when 
> climb_mode==CLIMB_MODE_PITCH 
> >> All other cases use controlled_gaz.
> >>
> >>
> >>
> >>
> >> _______________________________________________
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> >
> >
> >
> >
> >
> >
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> 
> 
> 
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