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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 16:59:52 -0400

So I disconnected the rf modems, and tried using the ftdi cable, but
the behavior is exactly the same. I think based on the experience with
the usb modem that the gcs is not sending any messages. I am looking
for a way to watch the outgoing messages, but if anyone knows how,
please let me know.


On Thu, Aug 21, 2008 at 4:45 PM, cory barton <address@hidden> wrote:
> 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?
> Thanks,
> Cory
> 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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