Gautier ... i am very curious to know how you discovered the
problem.
Date: Sun, 10 Jun 2012 20:52:42 +0200
From:
address@hidden
To:
address@hidden
Subject: Re: [Paparazzi-devel] Throttle problem with AIRSPEED
sensor (Gautier)
Hi Edouardo,
Here is what happen during your flight:
According to your airframe file, you are flying with the
standard control loop but with the airspeed (actually ground
speed) control. Is it what you wanted ? In this mode the pitch
is controlled by the vertical speed error (and thus altitude
error), while the throttle is controlled only by the air and
ground speed error.
When you first engaged AUTO2, the ground/air speed error is
close to zero (or even slightly negative). The weakness of the
PI controller used in this loop is that you can't set a
"cruise throttle" value as initial throttle setpoint. In this
situation, the output of the control is 0 throttle, resulting
of speed loss which would have increase the integral action if
the time spend in AUTO2 had been long enough.
As it was not the case, the second switch to AUTO2 leads to a
0 throttle, but this time increasing. This would have been
enough to continue the flight if your plane had not stall due
to a combination of pitch up setpoint and high bank angle.
This stall produced an important drop of your air/ground
speed, which in the end saves your day as it allows the
integrator to fully "charge" itself. For your last attempt to
enter AUTO2, the throttle setpoint was close to 100%,
resulting of a correct vertical control of your plane.
To summarize: integrators are real shit, but no, you can't
just get rid of them like that. The correction I can advise to
you is to add a cruise throttle setpoint corresponding to your
throttle for cruise flight (somewhere close to
sw/airborne/firmwares/fixedwing/guidance/guidance_v.c:351).
Last point: in your radio file, I think it is better to have
min and neutral equals for THROTTLE channel, so you don't have
-100% display in the GCS.
Good luck for your flights (in a very nice place by the way ;)
)
Gautier
Le 10/06/2012 01:17, Eduardo lavratti a écrit :
Gautier, this is the logs that show a problem when i
engage AUTO2.
The flight start after 330 seconds
i tried to engage auto2 for 3 times.
on the 3th time the throttle work fine.
this is my last configuration.
i hae another logs with same problema but the airframe
file is different.
regards.
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