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Re: [Paparazzi-devel] Automatic Takeoff and landing

From: Pascal Brisset
Subject: Re: [Paparazzi-devel] Automatic Takeoff and landing
Date: Wed, 21 Apr 2010 13:29:44 +0200
User-agent: Mozilla-Thunderbird (X11/20100328)

In simulation ?

Stop the Simulator agent and restart it *without* the "-boot" option. Then use the "Set Pos" button of the simulator interface to set the original position of the A/C. Then clock "Boot".

And find the right place to add the info in the wiki ? :-)


Nathan Aherne wrote:
Hi Pascal,

Thank you for your reply, much appreciated!

I am having most trouble with the fact that the aircraft starts from the lon 
and Lat in the flight_plan file and I cannot work out how to move it. Am I able 
to specify the start point for the aircraft?

Kindest regards,

Nathan Aherne
Reddog Technology
Email: address@hidden
Mob: 0402 555 080

----- Original Message -----
From: "Pascal Brisset" <address@hidden>
To: address@hidden
Sent: Wednesday, 21 April, 2010 7:50:09 PM
Subject: Re: [Paparazzi-devel] Automatic Takeoff and landing


*Pre Flight Checks* - is it possible to code something similar to the preflight checks on a normal aircraft?
 For example ?
*Building a runway takeoff* - I cannot seem to set the start point of the aircraft for takeoff (maybe it would be good to set a start point dynamically when I push takeoff). The start point seems to be the Lat and Lon in the flight plan file.

I would like to be able to

1. Have a dynamic start point when I push takeoff (or other button)
You can use the NavSetWaypointHere() macro to set the waypoint (example in MOB block in basic.xml)
2. Have the aircraft travel down the runway with slight down elevator until above minimum speed.
 Use the "throttle" vertical mode:

<go vmode="throttle" throttle="0.314" from="RunwayStart" wp="RunwayEnd"pitch="-10"/>

where the pitch attribute should give you some down elevator
3. Move elevator to certain up pitch
4. Fly to waypoint Climb
 Back to standard takeoff
Is the above possible?
 You will say it !
How do you keep the aircraft from going off the side of the runway given the GPS is not that accurate?
Try :-) How is directed your front wheel ? You will have to play with the course_pgain (probably different from the "air" one)
If it is possible, I have no idea how to do any of the above, could someone point me in the right direction?

*Runway Landing.*

Are runway landings possible with a good degree of accuracy?
Repeatable automatic landing in a 25x25m square, without barometer, is our (the historic team) best achievement with a Slayer (

Good luck


PS: Feel free to feed the wiki with your understandings of the system and your experiment results :-)

Kindest regards,
Nathan Aherne
Reddog Technology
Web: <>
Email: address@hidden <mailto:address@hidden>
Mob: 0402 555 080

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