[Top][All Lists]

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

Re: [Paparazzi-devel] Reply to:"Re: small bug? (Reto B?ttner)"

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Reply to:"Re: small bug? (Reto B?ttner)"
Date: Tue, 19 Apr 2011 10:12:02 +0200

Note that you can enable the "TUNE_AGRESSIVE" flag and add the corresponding settings xml to get your aggressive settings right during flight. Standard tuning can not change them. 

Unless you have an airspeed loop or use auto-pitch which has an integrator, the glide pitch angle is just indirectly set by the pitch_of_vz * MAX_VZ settings. So the gain to get proper altitude tracking indireclty also sets the descend pitch. It is just a coincidance if both correspond.


On Mon, Apr 18, 2011 at 7:14 PM, Chris <address@hidden> wrote:
Hi Reto.
Well i went up to 3000m and the glide angle was set exactly to "DESCENT_PITCH" which was far too much. I made some more tests and each time the glide angle was equal to whatever
the "DESCENT_PITCH"  was set to.
When i disabled the Aggressive mode everything was perfect and the glide angle was automatically
set to 10 degrees which btw was the correct value for the intended glide slope.
I implemented an emergency flight plan when the "fuel" level gets low which calls for a fast climb to
an altitude calculated from the airplane's glide ratio and then a glide back home.
Obviously if i am 30km out the glide altitude can get as high as 5km.
(if this is possible as i check the climb rate vs the throttle setting)
I will see if i can solve the problem by increasing the "BLEND_START" alt error but i feel
that the aggressive mode should be disabled during gliding.
Anyway i found a workaround to this problem so my question was driven only from curiosity.
Here is my Aggressive section:
<section name="AGGRESSIVE"        prefix="AGR_">
<define name="BLEND_START"                value="30"/>
<define name="BLEND_END"                   value="10"/>
<define name="CLIMB_THROTTLE"          value="1.0"/>
<define name="CLIMB_PITCH"                  value="RadOfDeg(30)"/>
<define name="DESCENT_THROTTLE"      value="0.1"/>
<define name="DESCENT_PITCH"              value="RadOfDeg(-20)"/>
<define name="CLIMB_NAV_RATIO"           value="0.8"/>
<define name="DESCENT_NAV_RATIO"      value="1.0"/>


Paparazzi-devel mailing list

reply via email to

[Prev in Thread] Current Thread [Next in Thread]