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Re: [Paparazzi-devel] Plane drops after take off on energyadaptative loo

From: Tobias
Subject: Re: [Paparazzi-devel] Plane drops after take off on energyadaptative loop
Date: Tue, 23 Feb 2016 13:56:07 +0100

Hi Joseph,

energy-loop is the way to go, just to answer your last question. :-)

regarding the unwonted behavior - first thing to check is: is your airframe well tuned? I mean is it holding altitude and speed well. after a wile?
If so you should check probably the values for ( ) against the flight log for straight flight and climb.
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0."/> <!-- default 0 -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>

in the scenario you described you are changing from fixed values to the energy loop - its always a good idea to have the plane in a rather similar attitude/speed to do this. So what is your alt for stby? just thing about it - if it is the same alt as your deroute from the previous block try to increase the stby alt or decrease the deroute alt 
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>

this allows the plane to catch up.

cheers Tobi

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