Re: [Paparazzi-devel] Magic values

since we don't really have one standard airframe setup for beginners I would propose to make the Bixler that one (with Lisa/M 2.0 and Aspirin 2.1).

The gains are not tuned (I don't have a Bixler), so this is just a start... you also need to make sure the servo defines are ok for your airframe.
I'll be happy to update that example if you have a known-to-work config...

It is probably better for you to start with a basic setup before you start adding/using some additional options and picking random stuff together from other airframe files...

So in that example the IMU, AHRS and control runs at the default 60Hz. You can do better if you increase that, but that adds more complexity in configuration...

About the aileron diff... I guess it is nice but probably not really needed in most cases (I didn't add it in the example to limit confusion).

The adaptive control is not especially documented so far, but you probably don't gain that much by using it if you don't have an airspeed sensor...

To use it you would have to specify the type="new" for the control subsystem.

It would be really nice if we could get _one_ example setup that is know to work really well. The Bixler is probably a good choice there, but the drawback is that probably none of the really experienced Paparazzi's has one? But it should be similar to an EasyStar (but with ailerons).

Would be good to update that example with your final tuned values once it flies well so the next one with a bixler doesn't have to start tuning again...

I also added a section about the default LED assignments on Lisa/M 2.0: http://paparazzi.enac.fr/wiki/Lisa/M_v20#LEDs
You can of course change these via the configure options, but there is probably no need for that....

Anyways it would be good to get some input from some fixedwing people on a standard setup...

Cheers, Felix

On Mon, Jun 18, 2012 at 9:39 PM, Tilman Baumann <address@hidden> wrote:

My Bixler Airframe is nearing completion.
But I'm absolutely overwhelmed by the number of magic values in my airframe file.

I based my config on another 5 channel airframe I found in the sources. Whic was basically cargo cult configuration.
With this I copied a lot of things that are probably absolutely wrong for my plane.

I tried to reduce those magic values to a minimum but it does not seem to compile with many of those. I commented out a bunch but there is still a lot left.
For most of those values a Wiki search brings no results, or no indication for safe defaults.

I'm sure that I have to eventually do some tuning. But I would like to do this incrementally and based on some sane defaults.

Also there is stuff like aileron mixing in the command laws. They look cool. But should I use that or better not?
And this mixing of rudder and ailerons also happens in MANUAL mode. Good?

Also there is this adaptive control loop. Is that on by default? I don't find options for it. Or should I not use that anyway?

I pasted a copy of my config. You see all the FIXME and the commented stuff.
http://piratepad.net/FSUEQOzM99

I suppose I have to do a lot of tuning. But perhaps if any of you see some big no-no's there or like to comment on choices I have taken (or rather ignored).
I would hate to start with a totally botched up setup. Would be nice if it actually flies. :)

Comments welcome.

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

From:	Felix Ruess
Subject:	Re: [Paparazzi-devel] Magic values
Date:	Tue, 19 Jun 2012 00:56:12 +0200