Replies to This Discussion

DeveloperPermalink Reply by Michael Oborne on July 1, 2011 at 6:44pm

can you give a little example... ie wp file

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Permalink Reply by LazyPilot on July 2, 2011 at 6:23pm

I used this flight plan. The aircraft flew to waypoint 3 at 20 m.  I checked the commanded altitudes by selecting the way points while the plane was on the ground, they all come up wrong.  When you remove the do change speed commands the plane flies perfect.

 

I have no log for the flight... tomorrow.

Attachments:

• flew to wp3 at 20m.h, 1 KB

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Permalink Reply by LazyPilot on July 3, 2011 at 12:33pm

I have tested this some more, the plane follows perfect with out the Do change. Then I add the do change, the first attempt is great, but when I press restart mission, the second time through the course the last few way points are below the ground.

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DeveloperPermalink Reply by Doug Weibel on July 3, 2011 at 8:05pm

LP - I am looking at this now and seeing some bad behavior, but can you please clarify what you mean by "I checked the commanded altitudes by selecting the way points while the plane was on the ground, they all come up wrong".  How did you check the commanded altitudes and what were they relative to what they should have been and the values in the do_change_speed command?

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Permalink Reply by LazyPilot on July 3, 2011 at 8:57pm

With the aircraft safe on the ground, I manually set each way point, then I check the altitude error in the status box. I set all my altitudes over the ground, abs alt not checked, so I should never see a negative alt. the land wpt, should be commanding 0 error. again the first attempt seams to work, but if you select restart, all bets are off.
Tomorrow I plan to fly a race track at 100 m at the normal speed, then I will add one do change speed, then two. I will report my findings.
I wasted today battling a very small but annoying zig zag in long straigt legs. I think power fluctuations are creating errors in the mag compass.

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DeveloperPermalink Reply by Doug Weibel on July 3, 2011 at 10:27pm

I cannot duplicate quite what you are saying about the the altitudes, but do get bad altitude behavior when using do_change_speed in missions with the HIL sim. I have uploaded a bug fix for it (what I am seeing) to the 2.X branch (r3230).

It would be great if you could test that and see if it resolves your issue.

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Permalink Reply by LazyPilot on July 4, 2011 at 7:37am

Thanks Doug,

 

I am loading the code right now. weather looks nice here.  I should have observations in a few hours. Ive got 10,000 mah on board to burn!

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Permalink Reply by LazyPilot on July 4, 2011 at 9:29am

Doug,

 

I have saved some time. I made a little video showing the problem.  Basically after the last Do Change Speed, the alt from the bottom right corner of the mission planner is being subtracted from the altitudes. Is this correct?

 

Please see this video, I know its boring and a little shaky....

 

http://www.youtube.com/watch?v=ttbAy3OHr6A

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Permalink Reply by LazyPilot on July 4, 2011 at 3:22pm

I ended up going flying even though the wind was horrible, at least for a little foam plane.  The results are in:

 

Doug, your change either had no change or is working correctly now. The original problem of altitude changing is still present. I corrected this by adding the home altitude to each commanded altitude after the first do change. it seems like after the do change the AP is flying absolute alt.

 

So is this a real problem or intended?

 

 

 

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DeveloperPermalink Reply by Doug Weibel on July 5, 2011 at 1:05pm

No, that is not intended. I'll investigate further. Thanks for the bug report.

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DeveloperPermalink Reply by Doug Weibel on July 5, 2011 at 1:40pm

Thanks for the video too.  No idea where the bug is yet but that should speed finding it.

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DeveloperPermalink Reply by Doug Weibel on July 5, 2011 at 1:59pm

OK LP, I am having no success duplicating your problem.  I have been doing basically what you did in your video, but am not seeing the altitude changes like you show.

 

What version of APM firmware are you using?  What revision and build number of Planner are you using.  For the mission you show in the video could you please run the CLI waypoints test and post the results here.

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