Re: [Paparazzi-devel] New auto_pitch mode

[kochevar]

Pascal,
Nice work and looks good.  However it seems like the climb_pitch_sum_err is
missing.  should have lines similar to this


climb_sum_err += err;
    if (climb_sum_err > MAX_CLIMB_SUM_ERR) climb_sum_err = MAX_CLIMB_SUM_ERR;
    if (climb_sum_err < - MAX_CLIMB_SUM_ERR) climb_sum_err = -
MAX_CLIMB_SUM_ERR;


Quoting Pascal <address@hidden>:

> Hi,
>
> A new longitudinal mode have been added in the autopilot; its aim is to
> control the vertical climb only using the pitch, with a constant
> throttle command. This mode is compatible with the "alt" (the default),
> "climb" and "glide" vertical mode's.
>
> Syntax in a flight plan: set the "pitch" value to "auto" along with a
> "gaz"  value (required).
> For example:
>
>      <go pitch="auto" gaz="0.75" wp="1"/>
>
> or, if you want to crash ASAP (roll=30°, vertical speed=-2 m/s, full
> throttle)
>
>      <attitude roll="30" vmode="climb" climb="-2" pitch="auto" gaz="1.0"
> until="FALSE"/>
>
> New parameters are needed in the airframe description to handle this mode:
> In the PID section, some limits on the desired pitch:
>
>     <define name="MAX_PITCH" value="0.25"/>
>     <define name="MIN_PITCH" value="-0.35"/>
>
> and in the ALT section, two gains for the new controller. Unit of PGAIN
> is rad/(m/s) .
>
>     <define name="PITCH_PGAIN" value="-0.1"/>
>     <define name="PITCH_IGAIN" value="1.0"/>
>
>
> Some details: The source code has been patched in pid.c:climb_pid_run()
> : The "auto_pitch" boolean flag is used to select the standard
> controller (FALSE, desired_gaz computed from desired_climb,
> desired_pitch almost constant) or the new one (TRUE, desired_gaz
> constant, desired_pitch computed from desired_climb).
>
> Warning:  the single test on this new code has been done with gcc: We
> cannot simulate it with the current simulator. So be ready to switch
> back to auto1 mode ...
>
> Comments are welcome.
>
> --Pascal
>
>
>
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