paparazzi/paparazzi — comment on commit 8b2892c0052ac9b4da597e400e490fa117c44577
File:  line 0
By dewagter:

a) repair set_actuators target
b) change ins_neutral and ahrs_neutral to body2imu instead
c) airborne trim

On Thu, Nov 3, 2011 at 2:54 PM, Martin Mueller <
reply@reply.github.com>wrote:

> Hi,
>
> have not looked into the pull-request so I am not really sure what the
> code does. I think it is important to emphasize that there are three
> separate things that we need to look at:
>
> a) the servo/control surface mis-alignment, handled by changing the servo
> neutrals with the actuators messages
> b) the imu mis-alignment, handled by the ins_neutral
> c) general aircraft tuning, e.g. fixing a changed center of gravity,
> usually also done by ins_neutral today
>
> The persistent memory that was introduced some months ago should be usable
> for this, it works for both lpc21 and stm32.
>
> Martin
>
> ----- original Nachricht --------
>
> Betreff: Re: [paparazzi] Trim Fixedwing Inflight: Stop abusing
> ins_neutral/ir_neutral (8b2892c)
> Gesendet: Do, 03. Nov 2011
> Von: Christophe De Wagter
>
> > @Gautier: "Isn't that what you do ?"
> >
> > Now I need to land the plane, read and store the values of the actuator
> > message and remember the values from last time, edit xml, do some
> > computations, compile, flash, reset the RC transmitter trims, take-off
> > again. This is what I hoped to simplify with this merge request.
> >
> > @Gautier: "hide an (estimation) error with an other (control) error"
> >
> > If you trim in auto2, then this might happen indeed. But right now,
> people
> > hide a control error (trim) by adding an estimation error (ins_neutral).
> > Hopefully the ability to do airborne trimming will make it easier to have
> > both right: switch back to manual, trim (not on the RC but direct in the
> > airframe file), switch back to auto2 trim the rest with ahrs_neutral [in
> a
> > single flight ;-) ].
> >
> > -Christophe
> >
> >
> >
> > On Thu, Nov 3, 2011 at 12:50 PM, Gautier Hattenberger <
> > reply@reply.github.com>wrote:
> >
> > > "Ideally you would TRIM your plane in manual, then align your IMU2BODY
> in
> > > AUTO1 with the trimmed plane and then auto2 should be perfect right
> > away."
> > >
> > > Isn't that what you do ? Because it is exactly the way we trim new
> > > aircrafts, and most of the time it flies in auto2 at the first or
> second
> > > flight.
> > >
> > > For the first point, I agree it might be easier to just add an offset
> to
> > > the command, but this way we might hide an (estimation) error with an
> > other
> > > (control) error. Isn't it better to fine tune aerodynamicaly with the
> > servo
> > > neutrals, then set estimation neutrals in level flight, and in the end
> > the
> > > control should not need (manual) trim ?
> > > For the pitch trim on fixedwing, the vertical control loop is not nice
> > > anyway, but the pitch_neutral is clearly a bad workaround.
> > >
> > > --
> > > Reply to this email directly or view it on GitHub:
> > >
> > >
> >
> https://github.com/paparazzi/paparazzi/commit/8b2892c0052ac9b4da597e400e490f
> > a117c44577#commitcomment-692692
> > >
> >
> > --
> > Reply to this email directly or view it on GitHub:
> >
> https://github.com/paparazzi/paparazzi/commit/8b2892c0052ac9b4da597e400e490f
> > a117c44577#commitcomment-692776
> >
>
> --- original Nachricht Ende ----
>
> ---
> Reply to this email directly or view it on GitHub:
>
> https://github.com/paparazzi/paparazzi/commit/8b2892c0052ac9b4da597e400e490fa117c44577#commitcomment-692950
>