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Re: [Paparazzi-devel] real time changes

From: Pascal Brisset
Subject: Re: [Paparazzi-devel] real time changes
Date: Fri, 08 Aug 2008 17:03:30 +0200
User-agent: Thunderbird (X11/20080724)


Aniket Aranake wrote:
1) I have come to understand that using tuning.xml it somehow possible to adjust gains while the plane is in the air. How do I make use of this file to do this? Do I just change parameters in the tuning.xml file and save while the plane is airborne?
The settings files (e.g. conf/settings/tuning.xml) is the list of the autopilot variable you are able to change from the ground station while the plane is airborne. It has to be edited _before_ uploading the code in the board. The GCS provides the graphical interface to show and change these values. The "Settings" agent is simpler one; it requires the -ac option:

   .../settings -ac TJ1

2) Is it possible to modify blocks in the flight plan while the plane is airborne? Specifically I'd like to change the radius at which a plane circles a waypoint in real time.
You are allowed to anything initially specified in the settings file. So if your block is

   <block name="Standby">
     <circle radius="nav_radius" wp="STDBY"/>

and the "nav_radius" variable is listed in the settings file, then you will be able to dynamically change the radius of this circle


Thanks, and thanks again for all the assistance I've gotten from this list.


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