Re: [Paparazzi-devel] Reply to "How to adjust surface travel and throttle?, (Edixon Giraldo)" #2

[Felix Ruess]

You can also specify height instead of alt for your waypoints, then it
will automatically take what you defined as ground_alt+height as
altitude.

Cheers, Felix

On Wed, Aug 18, 2010 at 12:32 AM, David <address@hidden> wrote:
> Chris knows his Paparazzi. He's also working himself to death (really) so I 
> will add what he wrote to the Wiki.
>
> It helps me to think like a robot. Servo center position, control surface 
> position, location, altitude all must be told to the robot. The ground 
> beneath you is not zero. It is some altitude above a reference ( usually sea 
> level). So this is why you set the ground alt in the flight plan. With the 
> quad rotors it's very important to get this right. If ground alt equals gps 
> reported alt the you are on the ground (relatively).
>
> -David
>
> On Aug 17, 2010, at 11:04 AM, Edixon Giraldo <address@hidden> wrote:
>
>> This is awesome Chris!  I have been looking for this information everywhere. 
>>  Thank you so much.  I have one more question, though before I go to the 
>> field.  Yesterday when I activated my GPS I noticed it measured an altitude 
>> of 240m.  It might be a stupid question, but, is this the altitude I need to 
>> place in the flight plan file right?  Not zero? Also, if this is the case, 
>> do I need to add this value (240m) to the waypoints when I edit them?  Say, 
>> if I want to keep the cruisin altitude at 80m, do I input 80m or 320m (240m 
>> + 80m)?
>>
>> Eddie.
>>
>> > Date: Tue, 17 Aug 2010 20:23:44 +0300
>> > From: address@hidden
>> > To: address@hidden
>> > Subject: [Paparazzi-devel] Reply to "How to adjust surface travel and 
>> > throttle?, (Edixon Giraldo)" #2
>> >
>> > What Antoine said is also correct although i prefer to mechanically trim
>> > the aircraft
>> > after landing.
>> > Just go high and engage AUTO1 and check if the plane can roll and pitch
>> > correctly, no need for the gcs here but it is not a bad idea to have it
>> > on since it will record the flight or tests and you can later examine
>> > the replay data easily.
>> >
>> > <define name="HORIZ_SENSOR_TILTED" value="1"/>
>> > <define name="LATERAL_CORRECTION" value="1.0"/>
>> > <define name="LONGITUDINAL_CORRECTION" value="1.0"/>
>> > <define name="VERTICAL_CORRECTION" value="1.5"/>
>> >
>> > Example:
>> > Make a stand of some kind which will enable to roll the aircraft and
>> > leave it there while
>> > working with the gcs.
>> > Make a table on a paper like this
>> > actual roll is the actual roll of the plane on the stand, pfd roll is
>> > the indicated roll
>> >
>> > actual roll=0 actual roll=30 actual roll=-30
>> >
>> > pfd roll= 0 pfd roll=25 pfd roll= -25
>> >
>> > This indicates that the <define name="VERTICAL_CORRECTION" value="1.5"/>
>> > needs to go up to (30/25)*1.5 = 1.8
>> > (This will multiply the actual adc reading of the vertical sensor by 1.8
>> > instead of 1.5)
>> > or set the <define name="CORRECTION_LEFT" value="1."/> and
>> > <define name="CORRECTION_RIGHT" value="1."/>
>> > to (30/25)*1 = 1.2
>> > It could be the opposite i dont remember exactly.
>> > Do the same for the pitch angles and you will have a fully calibrated
>> > PFD which is essential.
>> >
>> > For the throttle fist make sure that the GCS is also reporting 0% when
>> > the throttle stick is at the bottom or 100% when the stick is at the top
>> > (please remove the propeller first :-) )
>> > The battery voltage defined at the airframe file MUST BE the same as the
>> > battery voltage.
>> > For a fully charged 3 cell lipo that is 12.6v
>> > <section name="BAT">
>> > <define name="MILLIAMP_AT_FULL_THROTTLE" value="45000"/>
>> > <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
>> > <define name="CRITIC_BAT_LEVEL" value="10.0" unit="V"/>
>> > <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
>> > <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
>> > </section>
>> > In order to adjust the throttle in AUTO2 for cruise speed just edit
>> > those lines
>> > (let's say that your plane needs to have the throttle stick at the
>> > middle for a sustained level flight in manual)
>> > in the airframe file:
>> > <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" 
>> > unit="%"/>
>> > <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.50" unit="%"/>
>> > Then the minimum throttle for a level cruise will not go lower than 50%
>> > Of course if the plane is descending or ascending then the throttle will
>> > go below and above 50%.
>> > Chris
>> >
>> >
>> >
>> >
>> >
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