[Paparazzi-devel] YNT: roll_trim

[Refik Sever]

Hi Felix,

I have a simple question.
We have changed some files in 5.1_devel-126-g1757e2e-dirty branch (common_nav.c etc.). What do I need to type to get  v5.1_devel-148-ga18a74f without affecting our changed files?

Regards,
Refik

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Kimden: Felix Ruess address@hidden adına paparazzi-devel-bounces+address@hidden [paparazzi-devel-bounces+address@hidden
Gönderildi: 22 Ağustos 2013 Perşembe 15:49
Kime: Paparazzi devel list
Konu: Re: [Paparazzi-devel] roll_trim

Hi Refik,

Thanks for noticing and reporting this!

Seems the trim commands were not properly initialized.

The values set in the airframe file were directly written to command_x_trim in fbw, only to be overwritten later from the ap_state->command_x_trim values (which are not explicitly initialzed and hence zero). So when you change the trim commands in settings, only then they are actually applied.

Now the command_x_trim values are initialized in ap_state instead of fbw (and the yaw trim is also set from the airframe file, which was apparently missing before).

Should be fixed in v5.1_devel-148-ga18a74f

Please test and report back.

Thanks, Felix

On Thu, Aug 22, 2013 at 2:19 PM, Refik Sever <address@hidden> wrote:

Hello,

I set the roll trim and pitch trim in the airframe file like that:

     <define name="COMMAND_PITCH_TRIM" value="350"/>
      <define name="COMMAND_ROLL_TRIM" value="900"/>

I put the plane on a flat table and powered on. Then I set the roll trim from GCS which is same with airframe (900), then the ailerons move. Same situation for pitch trim. Since the setting value is same, I don't expext them to move. Our paparazzi version is v5.1_devel-126-g1757e2e-dirty.

We are using energy control loops, which updates the aircraft characteristics below. Although there is no variable about roll, can this situation be due to this?

By the way, we want to add the ac_characteristics to the telemetry. Did somebody add it before?

// Automatically found airplane characteristics

160 

161 float ac_char_climb_pitch = 0.0f;

162 float ac_char_climb_max = 0.0f;

163 int ac_char_climb_count = 0;

164 float ac_char_descend_pitch = 0.0f;

165 float ac_char_descend_max = 0.0f;

166 int ac_char_descend_count = 0;

167 float ac_char_cruise_throttle = 0.0f;

168 float ac_char_cruise_pitch = 0.0f;

169 int ac_char_cruise_count = 0;

Regards,
Refik

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