Re: [Paparazzi-devel] just a thought on trimming

[Maik Höpfel]

Aren't the trims compiled preflight? I'm not absolutely sure, but it
would agree with "make as many things static as we can thing" which I
heard as a motto. So that would make autotrimming impossible with the
current sources.

Regards,
Maik

2009/7/9 chris <address@hidden>:
> Hi.
> After i accumulated a lot of time with the Paparazzi autopilot an idea
> popped up in my mind.
> Is it possible to make an autotrim function where in manual flight we set
> the trims from the radio
> for level flight with the nominal throttle (say 40%) and then while making a
> high straight pass
> without any input from the sticks to press a button  from the GCS and
> autotrim the plane?
> Things like IR roll, IR pitch, servo centers etc. could be set in one pass.
> Of course this should be done in a day without wind etc.
> It sounds logical but there might be problems i am not aware off so any
> comment is welcomed.
>
> About the survey function i did many simulations and yes the polygon
> coordinates do not
> adjust their altitude when the "NavSetGroundReferenceHere()" function is
> called.
> The ground altitude in the flight plan is set via the "ground_alt="246" but
> the plane starts to survey at the declared 100 meters.
> It does not matter whether i define a sector or not with the S1,S2,S3 and S4
> waypoints.
> Here are the waypoints:
>
> <flight_plan alt="300" ground_alt="246" lat0="37.971632" lon0="23.591795"
> max_dist_from_home="300" name="Shisto_bomber_dc" qfu="110"
> security_height="50">
>  <waypoints>
>   <waypoint name="HOME" x="0" y="0"/>
>   <waypoint name="AF" x="157.5" y="-73.4"/>
>   <waypoint alt="0.0" name="TD" x="13.9" y="10.3"/>
>   <waypoint name="AF_NORTH" x="-131.5" y="98.8"/>
>   <waypoint name="BASELEG_NORTH" x="-128.5" y="45.0"/>
>   <waypoint name="BASELEG" x="37.0" y="-78.9"/>
>   <waypoint name="START" x="152.6" y="71.9"/>
>   <waypoint name="RELEASE" x="51.3" y="22.3"/>
>   <waypoint alt="0.0" name="TARGET" x="-11.5" y="-6.1"/>
>   <waypoint name="CLIMB" x="-57.3" y="-24.9"/>
>   <waypoint alt="100.0" name="S1" x="-54.0" y="-145.0"/>
>   <waypoint alt="100.0" name="S2" x="-155.0" y="29.7"/>
>   <waypoint alt="100.0" name="S3" x="18.5" y="120.0"/>
>   <waypoint alt="100.0" name="S4" x="117.5" y="-53.7"/>
>  </waypoints>
>  <sectors>
>   <sector name="PolySector">
>     <corner name="S1"/>
>     <corner name="S2"/>
>     <corner name="S3"/>
>     <corner name="S4"/>
>   </sector>
> Chris
>
>
>
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