[Paparazzi-devel] ground / airborne interaction

[Oswald Berthold]

hi all,

i spent the last days implementing this PID tuning approach [1] for a
pprz system, see [2] in case you're interested. basically it all works
but there are some items left which i'd like ask you about:


1. i have the impression from observing the behaving copter that the
error integral doesn't get reset when i update the params (pgain_,
dgain_, igain_, ddgain_). is this the case and how would i best go about
it: send a reset request msg or just put that into airborne code?

2. currently i'm using the RC to manually send the probing motion
commands during evaluation but i would like to send a fixed control
signal from my python script. should a just pretend being a joystick?
do joystick and RC work together?

3. i'm kind of confused about the settings confirmation: basically all
settings get sent at about 1 Hz in cycle mode. when you do a dl_setting
the AP responds immediately with a confirming dl_value. the confirmation
msg though seems to get dropped on my telemetry connection quite often
though. i gave up on trying to wait for the confirmation and just
transmit the params at 1 Hz. i already replaced the 57kb xbee S1
modems with 115kb rctimer ones, which improves things a bit but i still
get dropped msgs. any ideas on how this could be done properly?

(i know i could figure out 1 + 2 by surfing the code but if anyone can
provide hints that'd help).

cheers, opt


[1] http://www.cs.unm.edu/~afaust/MLPC15_proceedings/MLPC15_paper_Berthold.pdf
[2] 
https://github.com/x75/paparazzi/blob/x75/sw/ground_segment/python/paramopt.py