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Re: [Paparazzi-devel] No throttle in Auto2

From: cory barton
Subject: Re: [Paparazzi-devel] No throttle in Auto2
Date: Thu, 21 Aug 2008 16:45:16 -0400

Ok, I am outside with it now, and apparently, the ground station is
not sending anything. I have the USB modem, and its status lights
indicate that it is receiving constantly from the plane, but is not
sending anything. The modem is in its default configuration.

Is there any way to watch the outgoing messages from the groundstation
to the plane?



On Thu, Aug 21, 2008 at 4:05 PM, address@hidden <address@hidden> wrote:
> Does your plane respond to modem commands?  Maybe it's just not getting the 
> launch command?  Try changing the tuning gains and see if the values update.
> -- "cory barton" <address@hidden> wrote:
> Hello,
> 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.
> Thanks,
> Cory
> <!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">
>  <header>
> #include "nav_line.h"
> #include "datalink.h"
> </header>
>  <waypoints>
>    <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"/>
>  </waypoints>
>  <exceptions/>
>  <blocks>
>    <block name="Wait GPS">
>      <set value="1" var="kill_throttle"/>
>      <while cond="!GpsFixValid()"/>
>    </block>
>    <block name="Geo init">
>      <while cond="LessThan(NavBlockTime(), 10)"/>
>      <call fun="NavSetGroundReferenceHere()"/>
>    </block>
> <!--
>    <block name="Holding point">
>      <set value="1" var="kill_throttle"/>
>      <attitude roll="0" throttle="0" vmode="throttle"/>
>    </block>
> -->
>    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)"
> strip_icon="takeoff.png">
>      <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>
>    <block name="Standby" strip_button="Standby" strip_icon="home.png">
>      <circle radius="nav_radius" wp="STDBY"/>
>    </block>
>    <block name="Circle 1" strip_button="Circle 1"
> strip_icon="circle-right.png">
>      <circle radius="nav_radius" wp="1"/>
>    </block>
>  </blocks>
> </flight_plan>
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