Re: [Paparazzi-devel] Time to fine tune...

[Meier Lorenz]

Seems like I found the hornets nest, judging from the number and timing of 
responses ;-). Good to have all your attentention.

Yes, I will dig into the simulation to make sure to not propose again a 
redundant feature as first implementation step.

-L


On Oct 4, 2011, at 11:26 PM, Felix Ruess wrote:

Just a quick note regarding the settings: in Paparazzi you can also just edit 
any variables by defining a settings xml file for them and you will 
automatically get sliders to change this during flight.
So although I haven't used QGroundControl (and the parameters widget) it sounds 
like basically exactly the same thing...

On Tue, Oct 4, 2011 at 11:09 PM, Gareth Roberts 
<address@hidden<mailto:address@hidden>> wrote:
Hi Lorzenz,

[Sorry Volodymyr, I usually leave them alone: 
http://paparazzi.enac.fr/wiki/Fixedwing_Configuration#Vertical_Control has a 
reference for the code which actually uses them though, so you can see the 
control laws where they are implemented]

Like http://paparazzi.enac.fr/wiki/GCS#Settings and 
http://paparazzi.enac.fr/wiki/GCS#Papgets ?

QGroundControl is a great piece of work and working together to draw together 
the open source UAV community is definitely a good idea, but many of features 
have been implemented by paparazzi a long time ago (although not necessarily 
very discoverable :)).
It might be worth doing a few simulated flights via paparazzi just to 
familiarize yourself more with how the complete system works; the loose 
coupling between all the components via the ivy bus does take some getting used 
to.  The Messages tool and the ivy command line utility are both invaluable for 
understanding the message passing system of paparazzi.

Again, thanks for your work: it would be great to have a FreeDesktop(FreeUAV?) 
type organization to promote interoperability, especially given the increasing 
interest in the area.

Cheers!
Gareth




On Tue, 04 Oct 2011 20:32:08 +0100, Meier  Lorenz 
<address@hidden<mailto:address@hidden>> wrote:

This is officially no attempt to hijack this thread, I just thing it perfectly 
fits:

This is a good example where QGroundControl could be beneficial: Without the 
need to change QGC, every user can have his custom widgets for parameters. They 
can be tuned with sliders and are read-in on application startup.

The parameter interface allows to change parameters in-flight, they could also 
be saved to EEPROM (Lisa has one, right?)

The attached image translates to this exported widget configuration (which 
doesn't need to be edited manually, it can be graphically configured). The 
min/max values are auto-imported if QGC is provided with a CSV or Wiki-syntax 
file with parameter information (also shown as tooltip in the parameter widget).


[cid:3daf12cf-c89d-4eed-ba80-1475d6cd60fc@intern.ethz.ch<mailto:address@hidden>]



[Heading%20PID%20Tuning]
QGC_TOOL_WIDGET_ITEMS\1\TYPE=SLIDER
QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_DESCRIPTION=Heading D Gain
QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_D
QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_COMPONENTID=200
QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MIN=0
QGC_TOOL_WIDGET_ITEMS\1\QGC_PARAM_SLIDER_MAX=1
QGC_TOOL_WIDGET_ITEMS\2\TYPE=SLIDER
QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_DESCRIPTION=Heading P Gain
QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_P
QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_COMPONENTID=200
QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MIN=0
QGC_TOOL_WIDGET_ITEMS\2\QGC_PARAM_SLIDER_MAX=5
QGC_TOOL_WIDGET_ITEMS\3\TYPE=SLIDER
QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Gain
QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_I
QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_COMPONENTID=200
QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MIN=0
QGC_TOOL_WIDGET_ITEMS\3\QGC_PARAM_SLIDER_MAX=1
QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Heading I Limit
QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=HDNG2RLL_IMAX
QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=200
QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=0
QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=3000
QGC_TOOL_WIDGET_ITEMS\size=4


Am 04.10.2011 um 20:35 schrieb Volodymyr Khudyakov:

Hi gang
Please, help me to understand, how it work? Who explain me in simple terms?
What exactly is: DASH_TRIM, LOITER_TRIM, PITCH_OF_VZ_PGAIN...

...
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
...
<define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
...



Sincerely
Vladimir


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Lorenz Meier
PhD Candidate
Computer Vision and Geometry Lab
ETH Zurich
Swiss Federal Institute of Technology
http://www.inf.ethz.ch/personal/lomeier/


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------------------------------------------------------
Lorenz Meier
PhD Student
Computer Vision and Geometry Lab
ETH Zurich /
Swiss Federal Institute of Technology
http://www.inf.ethz.ch/personal/lomeier/