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Re: [Paparazzi-devel] Bungee Takeoff failure

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Bungee Takeoff failure
Date: Wed, 18 Jan 2017 11:34:56 +0100
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:45.0) Gecko/20100101 Thunderbird/45.5.1
You shouldn't need this block. The throttle should be restart automatically during the launch procedure. You should adjust your parameters so that it doesn't happen too late or too early. 


Le 18/01/2017 à 11:31, Erik Petersen a écrit :

Hi,

we just tried the c-Code change, but still the UAS went into Kill-Mode.
Maybe this advice will help. Should I comment out the unlock throttle block: 

<block name="Unlock_throttle">
      <set value="1" var="launch"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <deroute block="Bungee Start"/>
    </block>

for this reason?

Thanks!!

Am 2017-01-18 11:24, schrieb 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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