|From:||Stephen L Hulme|
|Subject:||Re: [Paparazzi-devel] Talking about Camreras and Wind|
|Date:||Thu, 29 Jul 2010 23:28:17 +1200|
Thank you for the informative reply.
But I think I am still missing something.
When you say "I would say: if the wind comes close to your cruise speed.... you should set it prior to takeoff"
Do you mean set the flags such as:
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO -DSTRONG_WIND
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
or something else?. And if the wind is low remove the flags?
On Wed, 28 Jul 2010 22:16:27 +0200 Christophe De Wagter wrote:
The wind.xml is redundant as the wind parameters are always present in the gcs - settings - flight parameters.
Procedure for strong winds:
I would say: if the wind comes close to your cruise speed.... you should set it prior to takeoff. In practice we never set it but always start with at least 1 standby circle.
Without the "strong wind" procedure when the ground speed becomes zero or negative (e.g. when you climb, that reduces your groundspeed), the MAV keeps turning even when the nose is pointing in the right direction and hereby is blown away. The strong-wind procedure is no miracle but simply adds the estimated wind to the ground speed when estimating angles. Even if the wind estimation is not accurate but just points in more or less the correct quadrant, it makes a huge difference. When the groundspeed becomes close to zero, the strongwind function reduces the nav gain (as a small heading difference makes the plane move laterally which is seen as a (huge) 90 degree error, while the real heading error is only a few degrees). When the ground speed becomes negative, the strongwind function uses the estimated heading instead of the ground track. This enables you to fly backward. Using the formation flight routines in paparazzi you can make a "hovering controller" for planes.
On Wed, Jul 28, 2010 at 12:12 AM, Stephen L Hulme <address@hidden> wrote:
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