Re: [Paparazzi-devel] Auto Take Off / Auto Land

[Pascal Brisset]

Hi,

the instruction is

  <go from="AF" hmode="route" vmode="glide" wp="TD"/>

and the related code is in nav.c:156 :

#define NavGlide(_last_wp, _wp) { \
 float start_alt = waypoints[_last_wp].a; \
 float diff_alt = waypoints[_wp].a - start_alt; \
 float alt = start_alt + nav_leg_progress * diff_alt; \
 float pre_climb = estimator_hspeed_mod * diff_alt / nav_leg_length; \
 NavVerticalAltitudeMode(alt, pre_climb); \
}

CLIMB_MODE_AUTO_THROTTLE is the default mode. If you want to use the 
pitch control with constant throtle, use
   <go from="AF" hmode="route" vmode="glide" wp="TD" pitch="auto" 
throttle="0.1"/>

--Pascal

gisela.noci wrote:
> Hi Pascal
> When guiding from the AF waypoint to the TD waypoint, which of the vertical
> guidance modes is used (ie CLIMB_MODE_AUTO_PITCH or
> CLIMB_MODE_AUTO_THROTTLE), or is the vertical guidance is the case of the
> landing a completely different thing, and if so, where can I find it in the
> source code?
> Gisela
>
> -----Original Message-----
> From: address@hidden
> [mailto:address@hidden
> ] On Behalf Of Pascal Brisset
> Sent: Wednesday, August 05, 2009 5:25 PM
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Auto Take Off / Auto Land
>
> Hi,
>
> it's partially described in 
> http://paparazzi.enac.fr/wiki_images/Users_manual.pdf (link from the wiki)
>
> --Pascal
>
> gisela.noci wrote:
>   
> > Does the Paparazzi Software manage either Auto Take Off or Auto Land 
> > or both? If so, where can I find out more about the rationale behind 
> > these functions?
> >
> > Gisela Noci
> >
> > ------------------------------------------------------------------------
> >
> > _______________________________________________
> > Paparazzi-devel mailing list
> > address@hidden
> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
> >   
> >     
>
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>
>
>
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>