Re: [Paparazzi-devel] Finding controls loop gains.

[Gautier Hattenberger]

Hi,

If you are in MANUAL or AUTO1 and loose the RC, you enter HOME mode (hard coded navigation routine). It will go out of this mode only after an action on the GCS asking to switch back to AUTO mode. The RC cannot put you out of this mode, unless you have defined UNLOCKED_HOME_MODE in your airframe. In this case, as soon as the RC is back, it will switch back to the mode selected by the RC switch.
The unlocked mode is not the default to avoid switch between MAN/AUTO1 and HOME in normal operation (tuned aircraft). However it can be useful when tuning a new aircraft to get the RC control back as soon as possible.

Gautier

Le 30/04/2013 00:05, Gerard Toonstra a écrit :

Hi guys,

Some improvements are actually needed on the wiki regarding this behavior for people who are in the process
of calibrating and testing their platforms.


Be careful about this stabilized mode. When your R/C link is interrupted for whatever reason, it will
switch to automatic mode instead:

http://paparazzi.enac.fr/wiki/Failsafe#RC_link_failure_while_manual_or_AUTO1

Read that carefully and its implications.

PPRZ assumes a fully working AP and configures its failsafe behavior in the assumption it's all working.
When testing, you need to know about these implications.

I hope some core PPRZ guys can help me out in the following statements to confirm or deny them:

- When you're in AUTO1 mode and the R/C link fails, you're being put into locked AUTO2 mode, until you action the GCS (AUTO2 back to AUTO1).
- The radio however still allows you to switch to MANUAL to get manual control of the aircraft (through the 3-way switch).



Rgds,

G>

On Mon, Apr 29, 2013 at 5:17 PM, ustuav <address@hidden> wrote:

Thanks Reto!

I'll try that.  We just don't want to loose control and destroy our plane.  We have a pretty tight budget.

Also, we were assuming there was a much more involved process as I've seen many gains that are very, very precise.

On Sun, Apr 28, 2013 at 2:53 PM, Reto Büttner <address@hidden> wrote:

Hi Billy

 

You might want to fix the data link issue first. Although a 100% data link is not crucial for tuning, it helps to have good plots on the ground station.

 

Why are you hesitating to switch to Auto1?

 

First try to switch to Auto1 on the ground. Check the control surface deflections (aileron and elevator). Both on inputs to the RC and on movements to the airframe. If all control surface deflections look reasonable (direction and gain) try it in the air. Find tuning settings that make you feel comfortable flying around in Auto1. Then (and not before) try Auto2.

 

By the way: Yaw control is not required for most airframes, therefore omitted for simplicity in paparazzi. It also has historical background as with thermopiles yaw control was not possible.

 

Good luck

Reto

 

2013/4/27 ustuav <address@hidden>

We have performed multiple flights using Manual mode only.  We're trying to find good values to use for first Auto 1 / Auto 2 flights.

We noticed that our data link sometimes drops during flight for a couple seconds and then comes back.

On Thu, Apr 25, 2013 at 3:38 AM, Reto Büttner <address@hidden> wrote:

Hi Billy

 

Can you describe your problem more precisely:

 

- Are you still in the workshop and trying to find good values for the first flight?

 

- Have you already performed flights? In Manual? In Auto1? In Auto2? What are the results?

 

- Do you have problems with attitude control or with navigation control?

 

Regards, Reto

 

2013/4/24 ustuav <address@hidden>

Can anyone help?  We're pretty stuck here.

I looked through this page but it didn't help tuning those gains: http://paparazzi.enac.fr/wiki/Control_Loops

This page also seems outdated: http://paparazzi.enac.fr/wiki/Tuning (so does the user manual).

Also, why is there no Yaw control loop?

On Mon, Apr 22, 2013 at 3:33 PM, ustuav <address@hidden> wrote:

Hi everyone,

I was hoping someone could explain how to obtain the controls loop gains for paparazzi.

We are using a fixed-wing aircraft with a Lisa M v2 and Aspirin v2.1

I've seen example airframe files with some gains defined but I don't know how they came about.

I read the paparazzi users manual and couldn't find anything in there about it.

Thanks,

Billy and the UST-UAV team

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