-------- Original Message --------
Subject: Re: [Paparazzi-devel] fly in the loop
From: Steven Wawryk <address@hidden>
Date: Tue, August 04, 2009 6:33 pm
To: address@hidden
There was no problem with looping. The outer <while>...</while> loop was just
fine. It was the inner, empty <while.../>that was the problem, and was
unnecessary anyway.
address@hidden wrote:
> Pascal,
> Just for my own curiousity. Couldnt the answer to this original question about
> looping a block been solved by adding a deroute at the end of the last <go> command?
>
> AJ
>
>
> -------- Original Message --------
> Subject: Re: [Paparazzi-devel] fly in the loop
> From: Steven Wawryk <address@hidden>
> Date: Mon, August 03, 2009 10:30 pm
> To: address@hidden
>
>
> Hi Pascal,
>
> I guess I like to think of the entire <while until="..."/> statement as a
> "stage". But if others like to think of each iteration as a stage, then I'd be
> happy with anything that allows a readable construct. Either of your
> suggestions would make me happy. Prominent warnings about the use of stage_time
> in while elements are probably needed.
>
> Steve
>
>
> Pascal Brisset wrote:
> > Hi,
> >
> > we could have a
> >
> > <sleep until="condition"/>
> >
> > instruction or a new "loop_time" variable. What do you think ?
> >
> > --Pascal
> >
> > Steven Wawryk wrote:
> > > Hi Pascal,
> > >
> > > It's not a criticism, it's just a usage that I find more intuitive and
> readable.
> > >
> > > I agree that it makes no sense during any fixed-wing flying phase. The
> > > situations I've encountered where I would have liked it are all before launch
> > > when it doesn't make sense for a controller to be running.
> > >
> > > One example was for a delay between control surface position changes during
> > > pre-launch testing where I wanted:
> > >
> > > <while cond="LessThan(stage_time,4)"/>
> > >
> > > and worked around it with:
> > >
> > > <attitude roll="0.0" throttle="0.0" vmode="throttle"
> > > until="LessThan(4,stage_time)"/>.
> > >
> > > Another was to speed up GPS settling where I wanted a timed out accuracy
> criterion:
> > >
> > > <while cond="And(LessThan(1000,gps_Pacc),LessThan(stage_time,10))"/>
> > >
> > > and worked around with:
> > >
> > > <attitude roll="0.0" throttle="0.0" vmode="throttle"
> > > until="Or(LessThan(gps_Pacc,1000),LessThan(10,stage_time))"/>
> > >
> > > I personally think that the "while" element is more readable.
> > >
> > > The use of empty "while" element works when used with block_time
> > > (NavBlockTime()) or any other variable for that matter and there are lots of
> > > examples of this in the flight_plan directory, so it can entice the naive
> user
> > > like me to use stage_time and wonder why it hangs and never gets past
> that stage
> > > (though the flight plan display doesn't actually show that it is hung up
> on that
> > > stage, so it takes a bit of investigating).
> > >
> > > Of course, it's not a show-stopper because there is a work around.
> > >
> > > Steve
> > >
> > >
> > > Pascal Brisset wrote:
> > >
> > >> Hi,
> > >>
> > >> there is a single "stage_time" variable which is reset at the beginning
> > >> of every stage. Here, there is a hidden empty stage inside the while
> > >> loop where the variable is reset. It is probably not enough documented.
> > >>
> > >> However, what do you expect of doing nothing during 2s ? Except during
> > >> an initialisation phase (or a perch phase with an heli), on the ground,
> > >> you probably want to continue to fly ...
> > >>
> > >> So the <attitude/> instruction is a good answer
> > >>
> > >> --Pascal
> > >>
> > >> Steven Wawryk wrote:
> > >>
> > >>> I have noticed previously that stage_time is reset to zero every
> iteration of a
> > >>> while loop. It works fine with "until=" attributes in other elements or
> > >>> "stages", but not while elements. I think this is a bug.
> > >>>
> > >>> Try another element that has an "until" attribute, like <attitude ...
> until="2
> > >>> <= stage_time">
> > >>>
> > >>>
> > >>> 郭 flying pig wrote:
> > >>>
> > >>>
> > >>>> Hi all
> > >>>>
> > >>>> I have try to create a loop flight in the basic.xml (from HOME -->
> STDBY --->CLIMB ....repeat), i use the following
> > >>>>
> > >>>>
> > >>>>
> > >>>> <block name="loop" strip_button="lop">
> > >>>> <while cond="TRUE">
> > >>>> <go wp="HOME"/>
> > >>>> <go wp="STDBY"/>
> > >>>> <go wp="CLIMB"/>
> > >>>> <while cond="2 > stage_time"/>
> > >>>> </while>
> > >>>> </block>
> > >>>>
> > >>>>
> > >>>> The problem i have is that once i call the block, it will fly from
> HOME --->STDBY ---->CLIMB , but after that it will not do anything until i
> call the block again, does anyone one have any idea how to do it right?
> > >>>>
> > >>>> I have enclosed my basic2.xml for the flight plan.
> > >>>>
> > >>>>
> > >>>> Thanks
> > >>>>
> > >>>> Chen
> > >>>>
> > >>>> _________________________________________________________________
> > >>>> 輕鬆分享 – 利用 Windows Live 相簿分享相片
> > >>>>
> > >>>>
http://download.live.com/toolbar
> > >>>>
> > >>>>
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