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Re: [Paparazzi-devel] Quad Tuning?

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Quad Tuning?
Date: Sat, 17 Jan 2015 11:48:24 +0100

Hi Ori,

I can't reproduce any of the problems you described....
The attributes are generally alphabetically sorted after saving with the flight plan editor, but that makes no difference.
Only weird thing I could manage by dragging was to put a waypoint in another one as a child, but that of course doesn't even compile.

Could you please check again and report the paparazzi_version you are using?

Cheers, Felix

On Sat, Jan 17, 2015 at 3:24 AM, Ori Pessach <address@hidden> wrote:
OK, here are the steps to reproduce the bug:

0. Make a backup copy of rotorcraft_basic.xml
1. Load rotorcraft_basic.xml in GCS, in edit mode. 
2. Open the Waypoints branch in the tree widget.
3. Drag the P1 waypoint Above the CLIMB waypoint.
4. Save the flightplan.
5. diff the new rotorcraft_basic.xml file with the backup copy you made in step 0.
6. Be happy you didn't try to fly with the edited copy. :)

Depending on how I drag things around, I can get the flightplan to break in different ways, including the problem I reported earlier (where CLIMB was replaced with P1.) I've seen other things getting clobbered, though. 

What's disconcerting about this is that the UI doesn't give the user any indication that something is wrong - the tree widget doesn't show the internal changes that get saved incorrectly. That's pretty mean. 


On Fri, Jan 16, 2015 at 6:20 PM, Felix Ruess <address@hidden> wrote:
Not unless you use the GCS as a visual flight plan editor...

On Fri, Jan 16, 2015 at 4:41 PM, Ori Pessach <address@hidden> wrote:
You're right. I've no idea how my copy ended up in this state. 'git diff' shows a lot of differences between my copy as it exists now and the one I checked out - mostly xml attributes getting reordered. Does GCS make changes to the flightplan file?

On Fri, Jan 16, 2015 at 5:19 PM, Felix Ruess <address@hidden> wrote:
Um, the rotorcraft_basic.xml flight plan in the repo is correct in that regard:

On Fri, Jan 16, 2015 at 4:15 PM, Ben Laurie <address@hidden> wrote:
On 16 January 2015 at 00:40, Ori Pessach <address@hidden> wrote:
> Ben,
> I think I just figured out why my drone was doing what you described here
> while taking off in NAV: I was using the rotorcraft_basic.xml flightplan as
> a basis for my flightplan, and here's what the  Takeoff block looked like:
> <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
>   <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby" />
>   <call fun="NavSetWaypointHere(WP_CLIMB)" />
>   <stay climb="1.0" vmode="climb" wp="p1" />
> </block>
> As far as I understand, this moves the CLIMB waypoint to the drone's current
> location, and then attempts to climb to waypoint P1 at a rate of 1m/s until
> the drone reaches an altitude of 2 meters, at which point control switches
> to the Standby block.
> The problem for me was that P1 was not near the drone's starting point, and
> the drone was trying to make a sharp turning maneuver while still on the
> ground, causing all sorts of ground encounter issues.
> Changing the stay element to:
> <stay climb="1.0" vmode="climb" wp="CLIMB" />
> fixed the issue I was having with takeoff, and allowed the drone to finally
> takeoff cleanly, climb to its target altitude and move to the Standby block.
> I also changed the standby block so that it stays at the CLIMB waypoint,
> instead of P1.

Haha ... that is awesome! Wish I'd noticed it, would've saved me a lot
of head-scratching. You should submit a pull request. Or I will if you

> This was the first time I was able to fly the drone completely autonomously
> with Paparazzi. Once the drone was off the ground, it seemed to navigate
> between waypoints and land perfectly fine. I have to say that flying is a
> lot more satisfying than crashing...

Sure is!

> On Mon, Dec 29, 2014 at 8:28 PM, Ben Laurie <address@hidden> wrote:
>> Is there a good tutorial for choosing all the different PID parameters
>> for a quad?
>> Mine flies fine when flown manually, but is perhaps a little soft.
>> It also has problems taking off in NAV: it tends to ramp up the motor
>> slowly and when its got enough lift to take off it instead flips over
>> (I presume because its trying to head off in some direction other than
>> straight up?).
>> Takeoff in ATT is just fine.
>> Could this be down to PID tuning?
>> (I also wonder if I've managed to break the GPS antenna - error is around
>> 6m).
>> _______________________________________________
>> Paparazzi-devel mailing list
>> address@hidden
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden

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