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

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Plane drops after take off on energyadaptative loop
Date: Tue, 23 Feb 2016 18:53:34 +0100

Fill the nominal cruise pitch (about 20 to 25 degrees) into the nominal cruise pitch: RadOfDeg(25)

PS: your cruise pitch looks quite large. Might want to look at the tuning of your inner loop, the placement of your IMU etc...

On Feb 23, 2016 20:56, "Tobias" <address@hidden> wrote:
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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