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Re: [Paparazzi-devel] No throttle in Auto2

From: miles
Subject: Re: [Paparazzi-devel] No throttle in Auto2
Date: Wed, 20 Aug 2008 16:15:12 -0500

Hi Cory,
Try keeping the holding block.  It shouldn't be causing any problems, and it is a good safety mechanism.

Is the plane on the ground when you are switching to AUTO2 mode and hitting Launch?

If you are getting "Mayday" messages, is it because of the battery being too low?  We had to adjust some of the power settings to make sure that the autopilot was correctly measuring the battery state of charge.

In our testing, we have often done the following takeoff procedure:
(1) do all the normal preparation to ensure AUTO1 is functioning properly
(2) start the GCS  (should go through Geo Init and then hold at the Holding block)
(3) have someone hold onto the plane while you switch to AUTO2 mode
(4) double-click into the Takeoff block and hit Launch (plane should throttle up)
(5) switch back to Manual mode
(6) in GCS, double click on Standby block or some other navigation type block
(7) manually takeoff, and in-flight test AUTO1 mode, then switch to AUTO2 mode and (in this case) the plane should start circling the Standby waypoint.


On Wed, Aug 20, 2008 at 15:44, cory barton <address@hidden> wrote:

I have done the ground based portion of the tuning procedure and
everything is going mostly ok. My one issue is that the motor will not
run in AUTO2 mode.

I think that a good thing to try before flying is to get a good grip
on the plane, and verify that the plane will throttle up, when the
flight plan is in the takeoff block, and the launch button is pressed.

I am using a modified version of the basic flight plan(see below). I
have eliminated everything except the takeoff, and blocks to circle
around STDBY, and waypoint 1. It works great in simulation.

When I turn on the AP, I have control of all the actuators in manual
mode, including throttle. The PFD reflects the actual attitude of the
plane. I also have full control in AUTO1 mode, and the control
surfaces appear to move correctly when I change the attitude of the
plane, and the throttle response is good.

However, when I switch to AUTO2, I cannot get the system to move out
of the holding point block, and the throttle area is red in the GCS. I
got a message in the GCS saying: "mayday, kill mode". I tried using
the settings under the misc tab to set kill_throttle to 0, but it
didn't work. No matter what I tried, I could not get the prop to spin
in AUTO2 mode.

Then I commented out the holding point block, and reflashed the AP.
The flight plan went directly from Geo init to takeoff, and the
throttle area was orange in the GCS. So I set the AP to AUTO2, and hit
the launch button. No response. I switched back to manual and auto1,
and the throttle works just fine. Switch to AUTO2, and no throttle.

Please let me know what I am missing.



<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">

<flight_plan alt="75" ground_alt="0" lat0="37.08253" lon0="-76.39815"
max_dist_from_home="700" name="Basic" security_height="25">
#include "nav_line.h"
#include "datalink.h"
   <waypoint name="HOME" x="0" y="0"/>
   <waypoint name="STDBY" x="120.6" y="115.6"/>
   <waypoint name="1" x="-45.5" y="174.2"/>
   <waypoint name="CLIMB" x="153.6" y="23.9"/>
   <block name="Wait GPS">
     <set value="1" var="kill_throttle"/>
     <while cond="!GpsFixValid()"/>
   <block name="Geo init">
     <while cond="LessThan(NavBlockTime(), 10)"/>
     <call fun="NavSetGroundReferenceHere()"/>
   <block name="Holding point">
     <set value="1" var="kill_throttle"/>
     <attitude roll="0" throttle="0" vmode="throttle"/>
   <block name="Takeoff" strip_button="Takeoff (wp CLIMB)"
     <exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
     <set value="0" var="kill_throttle"/>
     <set value="0" var="estimator_flight_time"/>
     <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
   <block name="Standby" strip_button="Standby" strip_icon="home.png">
     <circle radius="nav_radius" wp="STDBY"/>
   <block name="Circle 1" strip_button="Circle 1"
     <circle radius="nav_radius" wp="1"/>

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