Re: [Paparazzi-devel] Bungee Takeoff failure

[Gautier Hattenberger]

During the first part of the bungee take-off, the throttle is killed on 
purpose. It will come back alive after crossing the "throttle" line. So 
you should not un-kill your plane by hand in the flight plan (nor set 
the launch variable to 1, this will be done automatically later and can 
have side effect if done too early).

Do you have some flight logs of your tests, so we can see when it starts 
to fail?

Your DISTANCE parameter seems to be set to 10 currently. So it means 
that the throttle will be turned on when the plane is 10 meters *after 
the bungee attach point* defined by the bungee waypoint. I remember from 
our test that it is a bit far and we had better results with -5 or -10 
(so a few meters before the bungee point).

Gautier


Le 18/01/2017 à 11:12, Erik Petersen a écrit :
> Hi,
>
> first we tried to simply add a altitude to the bungee waypoint. This 
> did not work, I don't really know if it should?
>
> Furthermore now the UAV jumps into Kill-Mode after getting into the 
> bungee block. But I did not update my flight plan.
>
> Due to lack of time I propably cannot test the Bungee Routine with the 
> changed c-Code which Felix Ruess provided this week.
>
> Thanks for the help.
>
> Best regards,
> Erik
>
> Am 2017-01-18 10:50, schrieb Gautier Hattenberger:
> > Hi Erik,
> >
> > Could you try with the following fix:
> >
> > https://github.com/paparazzi/paparazzi/pull/1988
> >
> > Note that you'll probably have to update your flight plan for latest
> > master changes and use 'call_once' for instruction that are actually
> > called only one time (see
> > https://github.com/paparazzi/paparazzi/pull/1967)
> >
> > Gautier
> >
> >
> > Le 16/01/2017 à 00:15, Felix Ruess a écrit :
> > > Hi Erik,
> > >
> > > so if I understand you correctly, the bungee routine turns on the 
> > > throttle as expected, right?
> > >
> > > Does the aircraft ever gain significant height? How high did it go 
> > > until you presumably took over or switched to another flight plan 
> > > block manually?
> > > I see the altitude of your Bungee waypoint is 560m (50m above 
> > > ground_alt).
> > >
> > > Also in the bungee code there is a FIXME?
> > > https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/nav/nav_bungee_takeoff.c#L148 
> > >
> > >
> > > It seems that it will currently only exit the bungee routine (and 
> > > deroute) if you are 15m (BUNGEE_TAKEOFF_HEIGHT) above the Bungee 
> > > waypoint altitude, so at 75m above ground_alt.
> > > I presume you didn't let it get that far?
> > >
> > > So to me it sounds like this should be fixed in the Bungee routine 
> > > as mentioned in the FIXME by Gautier with the rewrite in 
> > > https://github.com/paparazzi/paparazzi/pull/1074
> > > @gautierhattenberger I think it should indeed add the 
> > > BUNGEE_TAKEOFF_HEIGHT to the current aircraft altitude when the 
> > > setup is run (and not ground_alt and neither the WP alt as it 
> > > currently is).
> > >
> > > Cheers, Felix
> > >
> > > On Sun, Jan 15, 2017 at 11:05 PM, Erik Petersen 
> > > <address@hidden 
> > > <mailto:address@hidden>> wrote:
> > >
> > >     Hi Felix,
> > >
> > >     shure, sorry could have thought to mention the version. It's
> > >     Paparazzi Version 5.11.
> > >
> > >     A link to my airframe and flightplan is here:
> > >     https://megastore.uni-augsburg.de/get/prMQ6tYteu/
> > >     <https://megastore.uni-augsburg.de/get/prMQ6tYteu/>
> > >
> > >     Thank you!
> > >
> > >     Best regards,
> > >     Erik
> > >
> > >
> > >     Am 2017-01-15 19:16, schrieb Felix Ruess:
> > >
> > >         Hi Erik,
> > >
> > >         can you please provide some more details?
> > >         What Paparazzi version are you using? Please post (a link to)
> > >         your airframe
> > >         config, flight plan, etc..
> > >
> > >         Cheers, Felix
> > >
> > >         On Sun, Jan 15, 2017 at 5:24 PM, Erik Petersen <
> > >         address@hidden
> > >         <mailto:address@hidden>> wrote:
> > >
> > >             Hi everyone!
> > >
> > >             I've got a problem with the Bungee Routine. All variables
> > >             are set properly,
> > >             but my UAV does not deroute into the next block. it's just
> > >             heading straight
> > >             forward. The bungee routine itself works.
> > >             can anyone help me find the mistake?
> > >
> > >             Sincerely,
> > >             Erik Petersen
> > >
> > >             --
> > >             Erik Petersen
> > >             Institut für Geographie
> > >             Universität Augsburg
> > >             Universitaetsstrasse 10
> > >             D - 86135 Augsburg
> > >
> > >             Telefon: +49 (0) 821 598-2765
> > >             <tel:%2B49%20%280%29%20821%20598-2765>
> > >             Email: address@hidden
> > >             <mailto:address@hidden>
> > > http://www.geo.uni-augsburg.de/lehrstuehle/phygeo/personal/petersen/
> > > <http://www.geo.uni-augsburg.de/lehrstuehle/phygeo/personal/petersen/>
> > >
> > >
> > >
> > >
> > >
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