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Parameters Change without input.

Posted by not2fast on May 27, 2013 at 10:46am

I've been chasing this for a while now so this morning I reset the APM in terminal and with the button, reloaded MP and reloaded the firmware for Arduplane V2.73. I left all parameters at default except cruise speed. The WP radius was 60 and the loiter was 40 it believe. I loaded the parameters into the APM and Refreshed several times.The Parameters stayed at 60 and 40. Flew a couple of simple missions and the plane looked smooth. Cool. Came back and refreshed the parameters and the  WP radius was 9 and the loiter was 3. Is this a bug or what???? I never changed a parameter except the cruise speed.

Please, some input??

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Replies

  • Søren Kuula May 30, 2013 at 12:54pm

    Hi, I have dug again!

    Here is what came to the light of the day. in FlightPlanner.saveWPs, which is fired when saving the WP list to the UAV, there is at the end:

    if (CHK_holdalt.Checked)
    {
    port.setParam("ALT_HOLD_RTL", int.Parse(TXT_DefaultAlt.Text) / MainV2.comPort.MAV.cs.multiplierdist * 100);
    port.setParam("RTL_ALT", int.Parse(TXT_DefaultAlt.Text) / MainV2.comPort.MAV.cs.multiplierdist * 100);
    }
    else
    {
    port.setParam("ALT_HOLD_RTL", -1);
    port.setParam("RTL_ALT", 0);
    }

    port.setParam("WP_RADIUS", (byte)int.Parse(TXT_WPRad.Text) / MainV2.comPort.MAV.cs.multiplierdist);

    try
    {
    port.setParam("WP_LOITER_RAD", (byte)(int.Parse(TXT_loiterrad.Text) / MainV2.comPort.MAV.cs.multiplierdist));
    port.setParam("LOITER_RAD", (byte)int.Parse(TXT_loiterrad.Text) / MainV2.comPort.MAV.cs.multiplierdist);
    }
    catch
    {

    }

    So it writes parameters! Five of them. If something goes wrong with loiter radii param write, there is no error message.

    Regards

    Soren

  • Søren Kuula May 29, 2013 at 4:14pm
    Hi, I think MP does a few more things than one thinks when uploading a mission. Bevause the wp and loiter radii are settable from the mission planning UI, it also stores these when saving a mission. Even though they are strictly speaking parameters and not mission definitions. Or that is what I believe; you can experiment with it. The radii input fields are above the waypoint list in the Planner tab. Enter some values, upload the mission, refresh parameters and see.
    I also heard several stories about surprise changes to the ALT_HOLD_RTL parameter, you can check that too (it is in the advanced list) and might be the "default alt" setting. I don't have a running setup right here but I hope this answer is OK anyway.
    Regards, Søren
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