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Re: [Paparazzi-devel] Engaging Auto2 without the ground station running


From: Felix Ruess
Subject: Re: [Paparazzi-devel] Engaging Auto2 without the ground station running ; Slew rate in Auto modes ; Aircraft response speed in Auto1
Date: Sat, 23 Oct 2010 13:11:31 +0200

Hi Bao,

not sure exactly what you want to do. What do you mean by putting the
constraint as default?
Exceptions global to the flight plan (in the <exceptions> element) are
valid for all blocks.

Cheers, Felix

On Sat, Oct 23, 2010 at 6:34 AM, BX Guan <address@hidden> wrote:
> Thanks for the reply.
> Saw your newest addition at the wiki as well, wondering if the exception
> cond would do the trick. So at the lost of datalink signal it will be
> derouted to doing the standby loop. I actually had it set up with a flight
> path specifically to test the datalink, so sending it to a point and it will
> turn around if the datalink is lost. Of course that flightplan is user
> initiated. How do I actually put the constraint as the default? would this
> work:
>
>   <block name="Standby" strip_button="Standby" strip_icon="home.png">
>       <circle radius="-nav_radius" wp="STDBY"/>
>       <exception>
>         <exception cond="datalink_time > 5"  deroute="Standby"/>
>    </block>
>
> Thanks :)
> Bao
>
> On Sat, Oct 23, 2010 at 9:56 AM, Felix Ruess <address@hidden> wrote:
>>
>> Hi Bao,
>>
>> 1) You can engage AUTO2 without having a GCS running. It will just do
>> whatever you have in your flightplan. But if want to run it without
>> GPS you should make sure that you don't have any blocks in your flight
>> plan that wait for user input to go to the next one (e.g. holding
>> point) and that kill mode is reset.
>>
>> 2) don't know
>>
>> 3) That sounds like the angles estimated by the infrared sensors are
>> in fact higher that your actual roll and pitch angles. Tune your
>> infrared parameters so that your angles match approximately (in the
>> air).
>>
>> Cheers, Felix
>>
>> On Wed, Oct 13, 2010 at 4:52 AM, BX Guan <address@hidden> wrote:
>> > Hey guys, a few quick questions out of curiosity.
>> >
>> > 1) What is meant to happen if I engage Auto2 without actually running my
>> > GCS? I would assume that that's the same situation as a GPS and/or
>> > datalink
>> > signal lost. I know that the failsafe for GPS signal lost is
>> > configurable,
>> > but what about if the actual datalink is lost? Would I be able to say,
>> > have
>> > the UAV flying around in circles on standby by default every time I
>> > engage
>> > Auto2 (without actually running my GCS) or if say I put it on standby,
>> > then
>> > shutting down my software (to simulate a computer crash, for example)?
>> >
>> > 2) I was reading some old topics from the archive, wondering whether
>> > slew
>> > rate of throttle for Auto1 and Auto2 modes are still in effect? There
>> > was
>> > some discussion as to whether slew for Auto1 is necessary, so if it has
>> > been
>> > removed I'd like to perhaps know the reason(s) behind it.
>> >
>> > 3) I noticed that my UAV is capable of more robust movements in Manual
>> > mode
>> > compared to Auto1. It can make sharper turns etc. I was under the
>> > impression
>> > that the issue can be fixed by changing the maximum roll and pitch
>> > angles
>> > allowed in Auto1 mode, but it is still much slower even with an angle of
>> > 1.5rad for the roll, with the UAV not rolling anywhere to that degree.
>> > Is
>> > there another area that I should be paying attention to? Perhaps P gain
>> > for
>> > Roll and Pitch?
>> >
>> >
>> > Thanks,
>> > Bao
>> >
>> >
>> > _______________________________________________
>> > Paparazzi-devel mailing list
>> > address@hidden
>> > http://lists.nongnu.org/mailman/listinfo/paparazzi-devel
>> >
>> >
>>
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