Re: [Paparazzi-devel] ground / airborne interaction

[Felix Ruess]

Hi Oswald,

cool!

1. That is correct, the integrated error is currently not reset when gains are updated via settings.

However that could easily be added in settings with a "handler" that will reset it when a setting is changed.

Not sure if we really want that to happen every time a gain is changed tough...

2. Hm... good question... Sending RC_4CH messages (what joysticks do) and would be one solution, but I think you currently can't use a regular RC and joystick at the same time.

I think the long-term clean solution would be to set the quad into a sort of external guided attitude mode and send attitude commands via separate datalink messages.

3. To try to find out where the message is dropped, could you try with connecting a usb<->serial cable to the telemetry uart directly and see if you also don't get the setting confirmation?

Cheers, Felix

On Wed, Sep 23, 2015 at 4:52 PM, Oswald Berthold <address@hidden> wrote:

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

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