Re: [Paparazzi-devel] Re: Optimized landing block

[Reto Büttner]

Hi Felix,

thanks for the update. Makes Paparazzi just a little bit closer to perfect :-)

Cheers, Reto

2011/3/25 Felix Ruess <address@hidden>:
> Hi,
>
> It seems that nobody else tested this so far...
> Nevertheless I updated the landing block in all the flight plans, but
> did not change the 10 degrees to 20, so people don't get unexpected
> behavior.
>
> Cheers, Felix
>
> On Sat, Mar 12, 2011 at 12:58 AM, Reto Büttner <address@hidden> wrote:
>> Hi Felix,
>>
>> your assumption is perfectly correct. I get better results with 20
>> degrees than with 10. My airframes have slow roll rates due to high
>> aspect ratio wings. Therefore I need 20 degrees to get from the circle
>> bank angle to the straight final glide. For an airframe with high roll
>> rate (e.g. Funjet) 10 degrees might work fine.
>>
>> Cheers, Reto
>>
>> 2011/3/11 Felix Ruess <address@hidden>:
>>> Hi Reto,
>>>
>>> I don't have fixedwing to do some actual test flights with this, but I
>>> could integrate this of course if someone else tested it.
>>>
>>> What I'm wondering is why you decided to subtract 20 deg instead of
>>> 10? Did you get better results not waiting until you are exactly one
>>> the line, but already "exit" the circle 10 degrees earlier?
>>>
>>> Cheers, Felix
>>>
>>> On Thu, Mar 10, 2011 at 3:09 PM, Reto Büttner <address@hidden> wrote:
>>>> Hi guys,
>>>>
>>>> can someone double check on this and integrate it into the basic
>>>> landing block on git. The same landing block is in versatile and many
>>>> other example flight plans and should be corrected.
>>>>
>>>> Cheers,
>>>> Reto
>>>>
>>>> 2011/2/25 Reto Büttner <address@hidden>:
>>>>> Hi guys,
>>>>>
>>>>> I guess I have found a small bug in the basic paparazzi landing block
>>>>> (basic.xml). The original is:
>>>>>
>>>>> <block name="land">
>>>>>      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, 
>>>>> nav_radius)"/>
>>>>>      <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
>>>>> wp="_BASELEG"/>
>>>>>      <circle radius="nav_radius"
>>>>> until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 >
>>>>> fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
>>>>>    </block>
>>>>>
>>>>> This works fine for a right landing, but it does not align nicely on a
>>>>> left landing. Therefore I use:
>>>>>
>>>>>    <block name="land">
>>>>>      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, 
>>>>> nav_radius)"/>
>>>>>      <circle radius="nav_radius" until="NavCircleCount() > 0.5" 
>>>>> wp="_BASELEG"/>
>>>>>      <circle radius="nav_radius"
>>>>> until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*20),
>>>>> 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
>>>>>    </block>
>>>>>
>>>>> Works fine for me. If someone else could test this and integrate it
>>>>> into the basic landing block on git.
>>>>>
>>>>> Cheers,
>>>>> Reto
>>>>>
>>>>
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