[Paparazzi-devel] Reply to "How to adjust surface travel and throttle?, (Edixon Giraldo)" #2

[Chris]

What Antoine said is also correct although i prefer to mechanically trim 
the aircraft
after landing.
Just go high and engage AUTO1 and check if the plane can roll and pitch 
correctly, no need for the gcs here but it is not a bad idea to have it 
on since it will record the flight or tests and you can later examine 
the replay data easily.

 <define name="HORIZ_SENSOR_TILTED" value="1"/>
 <define name="LATERAL_CORRECTION" value="1.0"/>
 <define name="LONGITUDINAL_CORRECTION" value="1.0"/>
 <define name="VERTICAL_CORRECTION" value="1.5"/>

Example:
Make a stand of some kind which will enable to roll the aircraft and 
leave it there while
working with the gcs.
Make a table on a paper like this
actual roll is the actual roll of the plane on the stand, pfd roll is 
the indicated roll

actual roll=0                actual roll=30             actual roll=-30

pfd roll= 0                    pfd roll=25                  pfd roll= -25

This indicates that the <define name="VERTICAL_CORRECTION" value="1.5"/>
needs to go up to (30/25)*1.5 = 1.8
(This will multiply the actual adc reading of the vertical sensor by 1.8 
instead of 1.5)
or set the <define name="CORRECTION_LEFT" value="1."/>   and
<define name="CORRECTION_RIGHT" value="1."/>
to (30/25)*1 = 1.2
It could be the opposite i dont remember exactly.
Do the same for the pitch angles and you will have a fully calibrated 
PFD which is essential.

For the throttle fist make sure that the GCS is also reporting 0% when 
the throttle stick is at the bottom or 100% when the stick is at the top 
(please remove the propeller first :-)  )
The battery voltage defined at the airframe file MUST BE the same as the 
battery voltage.
For a fully charged 3 cell lipo that is 12.6v
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="45000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
</section>
In order to adjust the throttle in AUTO2 for cruise speed just edit 
those lines
(let's say that your plane needs to have the throttle stick at the 
middle for a sustained level flight in manual)
in the airframe file:
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.50" unit="%"/>
Then the minimum throttle for a level cruise will not go lower than 50%
Of course if the plane is descending or ascending then the throttle will 
go below and above 50%.
Chris