Re: [Paparazzi-devel] Bungee Takeoff failure

[Erik Petersen]

Now we tried to launch without this block, but still the UAS went into 
kill mode directly after the Bungee routine. I attached to flight 
recorder files.


Am 2017-01-18 11:34, schrieb Gautier Hattenberger:
> 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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