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Re: [Paparazzi-devel] Roll and Yaw Control


From: Chris
Subject: Re: [Paparazzi-devel] Roll and Yaw Control
Date: Sat, 14 Jul 2012 09:23:13 +0300
User-agent: Mozilla/5.0 (X11; Linux i686; rv:13.0) Gecko/20120615 Thunderbird/13.0.1

Hi.
The rudder is not controlled normally except if you define a mixing with aileron. It will work with the airframe file you have but you are wasting one servo output
and generate more unused complex code
Since you use one aileron servo your airframe file should look like this (with rudder mixing)

<servos>
<servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILERON_RIGHT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="ELEVATOR" no="2" min="2000" neutral="1500" max="1000"/>
<servo name="RUDDER" no="6" min="1100" neutral="1500" max="1900"/>
</servos>

<commands>
    <axis name="ROLL"                failsafe_value="0"/>
    <axis name="PITCH"                failsafe_value="0"/>
    <axis name="THROTTLE"        failsafe_value="0"/>
    <axis name="YAW"                  failsafe_value="0"/>
</commands>

<rc_commands>
    <set command="ROLL"               value="@ROLL"/>
    <set command="PITCH"              value="@PITCH"/>
    <set command="THROTTLE"      value="@THROTTLE"/>
    <set command="YAW"                value="@YAW"/>
</rc_commands>

<section name="MIXER">
    <define name="COMBI_SWITCH" value="0.5"/>
</section>

<command_laws>
    <set servo="AILERON"        value="@ROLL"/>
    <set servo="ELEVATOR"      value="@PITCH"/>
    <set servo="MOTOR"          value="@THROTTLE"/>
    <set servo="RUDDER"         value="@YAW + @ROLL*COMBI_SWITCH"/>
</command_laws>

<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 -->
 <auto_rc_commands>
<set command="YAW" value="@YAW"/>
 </auto_rc_commands>
<!--



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