[Paparazzi-devel] Re: Bug that needs fixing

[kochevar]

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

Anton

Quoting Pascal Brisset <address@hidden>:

> Hi Anton,
>
> address@hidden wrote:
> > Pascal,
> > 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 ...
>
> --Pascal