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Re: [Paparazzi-devel] Throttle dies in auto2
From: |
Pascal |
Subject: |
Re: [Paparazzi-devel] Throttle dies in auto2 |
Date: |
Wed, 30 Aug 2006 23:56:01 +0200 |
User-agent: |
Debian Thunderbird 1.0.2 (X11/20050602) |
Hi Roman, Hi Anton,
the default is "no slew" (pid.c:131, CLIMB_MAX_DIFF_GAZ=1).
What is expected (from what I reread in the code):
- MANUAL: no control on the throttle, you get what you set on the stick
- AUTO1, AUTO2: slew is active: you cannot immediately go from
throttle=0 to throttle=100%. The variation in time is limited by
CLIMB_MAX_DIFF_GAZ
MANUAL -> AUTO1|AUTO2 :
Before the switch
- desired_gaz is set (main_ap.c:258)
- pid_slew() is run (main_ap.c:462)
so the controller follows (with a delay) your manual throttle command
(of course this desired_gaz value is unused by the fbw process in this mode)
After the switch: desired_gaz smoothly evolves from the current value
to the one computed by the controller (AUTO2) or set by the stick (AUTO1)
So I can't explain the problem you observe ... And I can't reproduce it
with the simulator :-(
About the CLIMB_MODE_PITCH: desired_gaz is set to nav_desired_gaz which
is set by the navigation task, i.e. the flight plan.
So we will have to boot a plane to figure out the problem. I think we
almost never flew in MANUAL since the slew control was implemented ...
Last remark: do we really want the slew in AUTO1 ?
--Pascalr
address@hidden wrote:
Roman,
Ive seen this before. What climb mode are you using? If you arent
specifying
then Im pretty sure that part functions. However There is a throttle
slewing
built in, Pascal would have to tell you whether its default on or not,
as I
dont have code infront of me.
Anton
Quoting Roman Krashanitsa <address@hidden>:
Guys, I have this weird behavior while flying in manual/auto1 and then
switching to auto2. First the throttle dies to 0, then slowly goes up
to the
required value. Im I doing something wrong?
I suspect that this is related to the initial value of nav_desired_gaz
variable in nav.c when climb_mode==CLIMB_MODE_PITCH
All other cases use controlled_gaz.
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