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[Paparazzi-devel] Re: Bug that needs fixing

From: kochevar
Subject: [Paparazzi-devel] Re: Bug that needs fixing
Date: Mon, 15 Aug 2005 20:15:45 -0700
User-agent: Internet Messaging Program (IMP) 4.0-cvs

When someone gets a chance, could they try a mission in Paparazzi2 with an xyz, a simulation that is. When I run it the desired_pitch increases, and continues to increase without bound. I want to know if its Isolated to me or if everyone
has the problem with the new pitch code in the 1.54 update, thanks


Quoting Pascal Brisset <address@hidden>:

Hi Anton,

address@hidden wrote:
found a nasty bug in the code today.  If you use vmode="gaz" and give a gaz
setting gaz="?" you are unable to also specify a pitch angle.  This may be a
bug from adding autopitch I am unsure.  Good luck

  You are right.
  Before the auto_pitch mode was added, "desired_pitch" was computed in
navigation_task() (main.c) with
        desired_pitch = nav_pitch + pitch_of_vz;
and it was independent from the current vertical mode.

This line has been unfortunately moved into climb_pid_run() (pid.c) which is
called only with a vertical_mode greater than AUTO_CLIMB (i.e. CLIMB or ALT).

  This is now fixed:
   - climb_pid_run() computes (if auto_pitch) or updates (else) nav_pitch ;
   - desired_pitch is always set to nav_pitch in navigation_task()

Please check the source code before flying ...


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