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Re: [Paparazzi-devel] Reply to "How to descent faster? ( Famille Chatea

From: Famille Chateauvieux-Hellwig
Subject: Re: [Paparazzi-devel] Reply to "How to descent faster? ( Famille Chateauvieux-Hellwig)"
Date: Sun, 30 Aug 2009 18:49:25 +0200
User-agent: KMail/1.11.2 (Linux/2.6.28-15-generic; KDE/4.2.2; x86_64; ; )

Le dimanche 30 août 2009 18:12:29 Pascal Brisset, vous avez écrit :
> Hi,
> this kind of procedure is available in
> conf/flight_plans/grosslobke_demo.xml (from Martin):
>     <block NAME="down" strip_button="Down">
>      <set var="lateral_mode" value="LATERAL_MODE_ROLL"/>
>      <set var="v_ctl_mode" value="V_CTL_MODE_MANUAL"/>
>      <set value="TRUE" var="h_ctl_disabled"/>
>      <set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
>      <set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
>      <while cond="estimator_z > ground_alt + 220"/>
>      <set value="0" var="h_ctl_aileron_setpoint"/>
>      <set value="0" var="h_ctl_elevator_setpoint"/>
>      <!--deroute block="down_end"/-->
>     </block>
>     <block NAME="down_end" strip_button="DownEnd">
>      <set value="0" var="h_ctl_aileron_setpoint"/>
>      <set value="0" var="h_ctl_elevator_setpoint"/>
>      <while cond="1.> stage_time"/>
>      <set value="FALSE" var="h_ctl_disabled"/>
>      <deroute block="wait"/>
>     </block>
> The trick is to set the h_ctl_disabled variable to disable
> stabilization, put the aircraft in a spiral ... and
> restart the autopilot high enough from the ground. Of course, your
> airframe has to handle it (it was the cause of one of the first crash
> with Paparazzi: switching from a manual dive to auto1; Twinstar's wings
> did not support the strong resulting pull)
> --Pascal
Hi Pascal,

I'm not sure what the paparazzi command are. You probably do not need the 
ailerons. Is 0.9*max_pprz pushing or pulling ?
I would put the rudder to 100% right or left, and elevator up 100%. I mean 
100% of the servo range, not just the max pprz... a twinstar definitely stands 
this treatment, but you really want to have the "sticks in the corner"

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