Re: [Paparazzi-devel] another fatal crash

[gatib]

Eduardo,

I can't see the following defines in your config file:

    <define name="AUTO_AIRSPEED_SETPOINT" value="11.0" unit="m/s"/>
    <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
    <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>

These should be in
<section name="VERTICAL CONTROL" prefix="V_CTL_">

Balazs

>
> wow .. more friends with same problema.
> well, i simulated this problem and re-checked all my config.
>
> i changed some parameter in V_CTL and the simulation are working very well
> for now.
>
> try change your v_ctl with this parameters and publish the result here :
>
>
>    <section name="VERTICAL CONTROL" prefix="V_CTL_">
>     <define name="POWER_CTL_BAT_NOMINAL" value="16.0" unit="volt"/>
>     <!-- outer loop -->
>  <define name="ALTITUDE_PGAIN" value="0.05"/>
> <!--    <define name="ALTITUDE_PGAIN" value="0.0869999974966"
> unit="(m/s)/m"/>-->
>     <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
>     <!-- auto throttle inner loop -->
>     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
>     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4"/>
>     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.9"/>
>     <define name="AUTO_THROTTLE_LOITER_TRIM" value="2000" unit="pprz_t"/>
>  <!-- elevador trim para voo loiter (lento) -->
>     <define name="AUTO_THROTTLE_DASH_TRIM" value="-1500" unit="pprz_t"/>
> <!-- elevador trim para voo dash (rapido) -->
>     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15"
> unit="%/(m/s)"/> <!-- 0.1 -->
>     <define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/>
> <!--0.02-->
>     <define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
>     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>  <!--
> 0.05 pitch devido a erro altitude -->
>     <!-- auto airspeed and altitude inner loop -->
>     <define name="AUTO_GROUNDSPEED_SETPOINT" value="15.0" unit="m/s"/>
>     <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
>     <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
>     <define name="AUTO_PITCH_PGAIN" value="0.145"/>
>     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
>     <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
>     <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
>  <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
>   </section>
>
> Date: Fri, 1 Jun 2012 09:22:40 +0530
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] another fatal crash
>
> Hi all,
>    I am also using the latest repository, yesterday I found when i engage
> AUTO2 throttle stops completely. In Manual I could fly well but moment
> I engage AUTO2 throttle gets cut and aircraft starts falling down.
> Anybody please suggest how to rectify this problem? I am also trying to
> find the reason for the throttle cut, but nothing clicked yet.
>
>
> Another problem I faced was during flight In Auto2 Iam unable to change
> the gains from the Ground control station? When on Ground I tried this
> exercise of changing gains in AUTO2 it works well. Are there any  altitude
> limitations? or I should ensure Aircraft is level? or any other settings
> that needs to be done?
>
>
> Kindly help
> --
> Thanks and Regards
> R.Guruganesh
>
> On Fri, Jun 1, 2012 at 9:03 AM, Eduardo lavratti <address@hidden>
> wrote:
>
>
>
>
>
> Whell, one more time the ppz fizedwing set throttle to 0 (zero) when i
> engaged AUTO2 mode.
> the flywing stalled and crashed.
>
> i think fixedwing ppz have a bug in throttle code.
> i am using airspeed_ets.
> when i engaged auto2 the altitude is greater than desired.
>
>
> i will search and put a minimul throttle value in the ppz code.
>
>
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