Re: [Paparazzi-devel] Tuning and Auto1 full throttle

[Pascal Brisset]

Hi Jason,

Jason Strebe wrote:
> Hi all,
> I have a Tiny13 board from Matt, and every time I change from man to 
> Auto1/Auto2 the AP goes to full throttle?  I have the throttle 
> reversed in the airframe.  Any ideas on what could be the issue?
What do you read on the GCS for the throttle value ? 100% ?
Using the versatile.xml flight plan, AUTO2 mode starts in "kill mode"; 
so if you get throttle, it would mean that the error is in the servo 
configuration. The involved definitions are (froms slayer2.xml) :

PPM signal to the controller:
   <servo name="THROTTLE"      no="4" min="1250" neutral="1250" 
max="1850"/>

Law from the THROTTLE RC channel to the THROTTLE value (in MANUAL mode)
 <rc_commands>
   <set command="THROTTLE" value="@THROTTLE"/>
 ...

Law from the THROTTLE command to the THROTTLE servo (in AUTO1 and AUTO2):
 <command_laws>
    <set servo="THROTTLE" value="@THROTTLE"/>
    ...

> Also on the Tuning page it says to enter the neutrals read with foam 
> over the sensors into the airframe file.  What neutrals and where do 
> they go in the airframe file?
While the sensor is a insulated box (the "placard" test), get the 
values from the IR_SENSORS message. If they are not close to zero (from 
-5 to 5 is ok), adjust the ADC_ROLL_NEUTRAL (lateral), ADC_PITCH_NEUTRAL 
(longitudinal)
and ADC_TOP_NEUTRAL (vertical). Note that these identifiers may be 
confusing: these are not neutrals on the ADCs but on the results of 
RollOfIrs(), PitchOfIrs() and TopOfIr() macros
> One more thing, I am not using a gyro/IMU so should I remove the gyro 
> section from the airframe file?
Yes. As well as the gyro.c file (from the makefile section)

--Pascal
> Thanks,
> Jason Strebe
>
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