Bungee Takeoff failure
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In reply to this post by Gautier Hattenberger-3
Now we tried to launch without this block, but still the UAS went into
kill mode directly after the Bungee routine. I attached to flight recorder files. Am 2017-01-18 11:34, schrieb Gautier Hattenberger: > You shouldn't need this block. The throttle should be restart > automatically during the launch procedure. You should adjust your > parameters so that it doesn't happen too late or too early. > > > Le 18/01/2017 à 11:31, Erik Petersen a écrit : >> Hi, >> >> we just tried the c-Code change, but still the UAS went into >> Kill-Mode. >> >> Maybe this advice will help. Should I comment out the unlock throttle >> block: >> >> <block name="Unlock_throttle"> >> <set value="1" var="launch"/> >> <set value="0" var="kill_throttle"/> >> <set value="0" var="autopilot_flight_time"/> >> <deroute block="Bungee Start"/> >> </block> >> >> for this reason? >> >> Thanks!! >> >> Am 2017-01-18 11:24, schrieb Gautier Hattenberger: >>> During the first part of the bungee take-off, the throttle is killed >>> on purpose. It will come back alive after crossing the "throttle" >>> line. So you should not un-kill your plane by hand in the flight plan >>> (nor set the launch variable to 1, this will be done automatically >>> later and can have side effect if done too early). >>> >>> Do you have some flight logs of your tests, so we can see when it >>> starts to fail? >>> >>> Your DISTANCE parameter seems to be set to 10 currently. So it means >>> that the throttle will be turned on when the plane is 10 meters >>> *after >>> the bungee attach point* defined by the bungee waypoint. I remember >>> from our test that it is a bit far and we had better results with -5 >>> or -10 (so a few meters before the bungee point). >>> >>> Gautier >>> >>> >>> Le 18/01/2017 à 11:12, Erik Petersen a écrit : >>>> Hi, >>>> >>>> first we tried to simply add a altitude to the bungee waypoint. This >>>> did not work, I don't really know if it should? >>>> >>>> Furthermore now the UAV jumps into Kill-Mode after getting into the >>>> bungee block. But I did not update my flight plan. >>>> >>>> Due to lack of time I propably cannot test the Bungee Routine with >>>> the changed c-Code which Felix Ruess provided this week. >>>> >>>> Thanks for the help. >>>> >>>> Best regards, >>>> Erik >>>> >>>> Am 2017-01-18 10:50, schrieb Gautier Hattenberger: >>>>> Hi Erik, >>>>> >>>>> Could you try with the following fix: >>>>> >>>>> https://github.com/paparazzi/paparazzi/pull/1988 >>>>> >>>>> Note that you'll probably have to update your flight plan for >>>>> latest >>>>> master changes and use 'call_once' for instruction that are >>>>> actually >>>>> called only one time (see >>>>> https://github.com/paparazzi/paparazzi/pull/1967) >>>>> >>>>> Gautier >>>>> >>>>> >>>>> Le 16/01/2017 à 00:15, Felix Ruess a écrit : >>>>>> Hi Erik, >>>>>> >>>>>> so if I understand you correctly, the bungee routine turns on the >>>>>> throttle as expected, right? >>>>>> >>>>>> Does the aircraft ever gain significant height? How high did it go >>>>>> until you presumably took over or switched to another flight plan >>>>>> block manually? >>>>>> I see the altitude of your Bungee waypoint is 560m (50m above >>>>>> ground_alt). >>>>>> >>>>>> Also in the bungee code there is a FIXME? >>>>>> https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/nav/nav_bungee_takeoff.c#L148 >>>>>> It seems that it will currently only exit the bungee routine (and >>>>>> deroute) if you are 15m (BUNGEE_TAKEOFF_HEIGHT) above the Bungee >>>>>> waypoint altitude, so at 75m above ground_alt. >>>>>> I presume you didn't let it get that far? >>>>>> >>>>>> So to me it sounds like this should be fixed in the Bungee routine >>>>>> as mentioned in the FIXME by Gautier with the rewrite in >>>>>> https://github.com/paparazzi/paparazzi/pull/1074 >>>>>> @gautierhattenberger I think it should indeed add the >>>>>> BUNGEE_TAKEOFF_HEIGHT to the current aircraft altitude when the >>>>>> setup is run (and not ground_alt and neither the WP alt as it >>>>>> currently is). >>>>>> >>>>>> Cheers, Felix >>>>>> >>>>>> On Sun, Jan 15, 2017 at 11:05 PM, Erik Petersen >>>>>> <[hidden email] >>>>>> <mailto:[hidden email]>> wrote: >>>>>> >>>>>> Hi Felix, >>>>>> >>>>>> shure, sorry could have thought to mention the version. It's >>>>>> Paparazzi Version 5.11. >>>>>> >>>>>> A link to my airframe and flightplan is here: >>>>>> https://megastore.uni-augsburg.de/get/prMQ6tYteu/ >>>>>> <https://megastore.uni-augsburg.de/get/prMQ6tYteu/> >>>>>> >>>>>> Thank you! >>>>>> >>>>>> Best regards, >>>>>> Erik >>>>>> >>>>>> >>>>>> Am 2017-01-15 19:16, schrieb Felix Ruess: >>>>>> >>>>>> Hi Erik, >>>>>> >>>>>> can you please provide some more details? >>>>>> What Paparazzi version are you using? Please post (a link >>>>>> to) >>>>>> your airframe >>>>>> config, flight plan, etc.. >>>>>> >>>>>> Cheers, Felix >>>>>> >>>>>> On Sun, Jan 15, 2017 at 5:24 PM, Erik Petersen < >>>>>> [hidden email] >>>>>> <mailto:[hidden email]>> wrote: >>>>>> >>>>>> Hi everyone! >>>>>> >>>>>> I've got a problem with the Bungee Routine. All >>>>>> variables >>>>>> are set properly, >>>>>> but my UAV does not deroute into the next block. it's >>>>>> just >>>>>> heading straight >>>>>> forward. The bungee routine itself works. >>>>>> can anyone help me find the mistake? >>>>>> >>>>>> Sincerely, >>>>>> Erik Petersen >>>>>> >>>>>> -- >>>>>> Erik Petersen >>>>>> Institut für Geographie >>>>>> Universität Augsburg >>>>>> Universitaetsstrasse 10 >>>>>> D - 86135 Augsburg >>>>>> >>>>>> Telefon: +49 (0) 821 598-2765 >>>>>> <tel:%2B49%20%280%29%20821%20598-2765> >>>>>> Email: [hidden email] >>>>>> <mailto:[hidden email]> >>>>>> http://www.geo.uni-augsburg.de/lehrstuehle/phygeo/personal/petersen/ >>>>>> <http://www.geo.uni-augsburg.de/lehrstuehle/phygeo/personal/petersen/> >>>>>> _______________________________________________ >>>>>> Paparazzi-devel mailing list >>>>>> [hidden email] >>>>>> <mailto:[hidden email]> >>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>> <https://lists.nongnu.org/mailman/listinfo/paparazzi-devel> >>>>>> >>>>>> >>>>>> _______________________________________________ >>>>>> Paparazzi-devel mailing list >>>>>> [hidden email] >>>>>> <mailto:[hidden email]> >>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>> <https://lists.nongnu.org/mailman/listinfo/paparazzi-devel> >>>>>> >>>>>> >>>>>> _______________________________________________ >>>>>> Paparazzi-devel mailing list >>>>>> [hidden email] <mailto:[hidden email]> >>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>> <https://lists.nongnu.org/mailman/listinfo/paparazzi-devel> >>>>>> >>>>>> >>>>>> >>>>>> >>>>>> _______________________________________________ >>>>>> Paparazzi-devel mailing list >>>>>> [hidden email] >>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>> >>>>> >>>>> _______________________________________________ >>>>> Paparazzi-devel mailing list >>>>> [hidden email] >>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>> >>>> _______________________________________________ >>>> Paparazzi-devel mailing list >>>> [hidden email] >>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>> >>> >>> _______________________________________________ >>> Paparazzi-devel mailing list >>> [hidden email] >>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >> >> _______________________________________________ >> Paparazzi-devel mailing list >> [hidden email] >> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel > > > _______________________________________________ > Paparazzi-devel mailing list > [hidden email] > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel _______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
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Sure! Thanks for your time.
Am 2017-01-18 11:49, schrieb Gautier Hattenberger: > These are the onboard logs, I can't extract them properly without your > conf file. Can you send me the ground station log instead (in var/logs > folder). Thanks > > > Le 18/01/2017 à 11:45, Erik Petersen a écrit : >> Now we tried to launch without this block, but still the UAS went into >> kill mode directly after the Bungee routine. I attached to flight >> recorder files. >> >> >> Am 2017-01-18 11:34, schrieb Gautier Hattenberger: >>> You shouldn't need this block. The throttle should be restart >>> automatically during the launch procedure. You should adjust your >>> parameters so that it doesn't happen too late or too early. >>> >>> >>> Le 18/01/2017 à 11:31, Erik Petersen a écrit : >>>> Hi, >>>> >>>> we just tried the c-Code change, but still the UAS went into >>>> Kill-Mode. >>>> >>>> Maybe this advice will help. Should I comment out the unlock >>>> throttle block: >>>> >>>> <block name="Unlock_throttle"> >>>> <set value="1" var="launch"/> >>>> <set value="0" var="kill_throttle"/> >>>> <set value="0" var="autopilot_flight_time"/> >>>> <deroute block="Bungee Start"/> >>>> </block> >>>> >>>> for this reason? >>>> >>>> Thanks!! >>>> >>>> Am 2017-01-18 11:24, schrieb Gautier Hattenberger: >>>>> During the first part of the bungee take-off, the throttle is >>>>> killed >>>>> on purpose. It will come back alive after crossing the "throttle" >>>>> line. So you should not un-kill your plane by hand in the flight >>>>> plan >>>>> (nor set the launch variable to 1, this will be done automatically >>>>> later and can have side effect if done too early). >>>>> >>>>> Do you have some flight logs of your tests, so we can see when it >>>>> starts to fail? >>>>> >>>>> Your DISTANCE parameter seems to be set to 10 currently. So it >>>>> means >>>>> that the throttle will be turned on when the plane is 10 meters >>>>> *after >>>>> the bungee attach point* defined by the bungee waypoint. I remember >>>>> from our test that it is a bit far and we had better results with >>>>> -5 >>>>> or -10 (so a few meters before the bungee point). >>>>> >>>>> Gautier >>>>> >>>>> >>>>> Le 18/01/2017 à 11:12, Erik Petersen a écrit : >>>>>> Hi, >>>>>> >>>>>> first we tried to simply add a altitude to the bungee waypoint. >>>>>> This did not work, I don't really know if it should? >>>>>> >>>>>> Furthermore now the UAV jumps into Kill-Mode after getting into >>>>>> the bungee block. But I did not update my flight plan. >>>>>> >>>>>> Due to lack of time I propably cannot test the Bungee Routine with >>>>>> the changed c-Code which Felix Ruess provided this week. >>>>>> >>>>>> Thanks for the help. >>>>>> >>>>>> Best regards, >>>>>> Erik >>>>>> >>>>>> Am 2017-01-18 10:50, schrieb Gautier Hattenberger: >>>>>>> Hi Erik, >>>>>>> >>>>>>> Could you try with the following fix: >>>>>>> >>>>>>> https://github.com/paparazzi/paparazzi/pull/1988 >>>>>>> >>>>>>> Note that you'll probably have to update your flight plan for >>>>>>> latest >>>>>>> master changes and use 'call_once' for instruction that are >>>>>>> actually >>>>>>> called only one time (see >>>>>>> https://github.com/paparazzi/paparazzi/pull/1967) >>>>>>> >>>>>>> Gautier >>>>>>> >>>>>>> >>>>>>> Le 16/01/2017 à 00:15, Felix Ruess a écrit : >>>>>>>> Hi Erik, >>>>>>>> >>>>>>>> so if I understand you correctly, the bungee routine turns on >>>>>>>> the throttle as expected, right? >>>>>>>> >>>>>>>> Does the aircraft ever gain significant height? How high did it >>>>>>>> go until you presumably took over or switched to another flight >>>>>>>> plan block manually? >>>>>>>> I see the altitude of your Bungee waypoint is 560m (50m above >>>>>>>> ground_alt). >>>>>>>> >>>>>>>> Also in the bungee code there is a FIXME? >>>>>>>> https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/nav/nav_bungee_takeoff.c#L148 >>>>>>>> It seems that it will currently only exit the bungee routine >>>>>>>> (and deroute) if you are 15m (BUNGEE_TAKEOFF_HEIGHT) above the >>>>>>>> Bungee waypoint altitude, so at 75m above ground_alt. >>>>>>>> I presume you didn't let it get that far? >>>>>>>> >>>>>>>> So to me it sounds like this should be fixed in the Bungee >>>>>>>> routine as mentioned in the FIXME by Gautier with the rewrite in >>>>>>>> https://github.com/paparazzi/paparazzi/pull/1074 >>>>>>>> @gautierhattenberger I think it should indeed add the >>>>>>>> BUNGEE_TAKEOFF_HEIGHT to the current aircraft altitude when the >>>>>>>> setup is run (and not ground_alt and neither the WP alt as it >>>>>>>> currently is). >>>>>>>> >>>>>>>> Cheers, Felix >>>>>>>> >>>>>>>> On Sun, Jan 15, 2017 at 11:05 PM, Erik Petersen >>>>>>>> <[hidden email] >>>>>>>> <mailto:[hidden email]>> wrote: >>>>>>>> >>>>>>>> Hi Felix, >>>>>>>> >>>>>>>> shure, sorry could have thought to mention the version. It's >>>>>>>> Paparazzi Version 5.11. >>>>>>>> >>>>>>>> A link to my airframe and flightplan is here: >>>>>>>> https://megastore.uni-augsburg.de/get/prMQ6tYteu/ >>>>>>>> <https://megastore.uni-augsburg.de/get/prMQ6tYteu/> >>>>>>>> >>>>>>>> Thank you! >>>>>>>> >>>>>>>> Best regards, >>>>>>>> Erik >>>>>>>> >>>>>>>> >>>>>>>> Am 2017-01-15 19:16, schrieb Felix Ruess: >>>>>>>> >>>>>>>> Hi Erik, >>>>>>>> >>>>>>>> can you please provide some more details? >>>>>>>> What Paparazzi version are you using? Please post (a >>>>>>>> link to) >>>>>>>> your airframe >>>>>>>> config, flight plan, etc.. >>>>>>>> >>>>>>>> Cheers, Felix >>>>>>>> >>>>>>>> On Sun, Jan 15, 2017 at 5:24 PM, Erik Petersen < >>>>>>>> [hidden email] >>>>>>>> <mailto:[hidden email]>> wrote: >>>>>>>> >>>>>>>> Hi everyone! >>>>>>>> >>>>>>>> I've got a problem with the Bungee Routine. All >>>>>>>> variables >>>>>>>> are set properly, >>>>>>>> but my UAV does not deroute into the next block. >>>>>>>> it's just >>>>>>>> heading straight >>>>>>>> forward. The bungee routine itself works. >>>>>>>> can anyone help me find the mistake? >>>>>>>> >>>>>>>> Sincerely, >>>>>>>> Erik Petersen >>>>>>>> >>>>>>>> -- >>>>>>>> Erik Petersen >>>>>>>> Institut für Geographie >>>>>>>> Universität Augsburg >>>>>>>> Universitaetsstrasse 10 >>>>>>>> D - 86135 Augsburg >>>>>>>> >>>>>>>> Telefon: +49 (0) 821 598-2765 >>>>>>>> <tel:%2B49%20%280%29%20821%20598-2765> >>>>>>>> Email: [hidden email] >>>>>>>> <mailto:[hidden email]> >>>>>>>> http://www.geo.uni-augsburg.de/lehrstuehle/phygeo/personal/petersen/ >>>>>>>> <http://www.geo.uni-augsburg.de/lehrstuehle/phygeo/personal/petersen/> >>>>>>>> _______________________________________________ >>>>>>>> Paparazzi-devel mailing list >>>>>>>> [hidden email] >>>>>>>> <mailto:[hidden email]> >>>>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>>>> <https://lists.nongnu.org/mailman/listinfo/paparazzi-devel> >>>>>>>> >>>>>>>> >>>>>>>> _______________________________________________ >>>>>>>> Paparazzi-devel mailing list >>>>>>>> [hidden email] >>>>>>>> <mailto:[hidden email]> >>>>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>>>> <https://lists.nongnu.org/mailman/listinfo/paparazzi-devel> >>>>>>>> >>>>>>>> >>>>>>>> _______________________________________________ >>>>>>>> Paparazzi-devel mailing list >>>>>>>> [hidden email] >>>>>>>> <mailto:[hidden email]> >>>>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>>>> <https://lists.nongnu.org/mailman/listinfo/paparazzi-devel> >>>>>>>> >>>>>>>> >>>>>>>> >>>>>>>> >>>>>>>> _______________________________________________ >>>>>>>> Paparazzi-devel mailing list >>>>>>>> [hidden email] >>>>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>>> >>>>>>> >>>>>>> _______________________________________________ >>>>>>> Paparazzi-devel mailing list >>>>>>> [hidden email] >>>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>>> >>>>>> _______________________________________________ >>>>>> Paparazzi-devel mailing list >>>>>> [hidden email] >>>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>>> >>>>> >>>>> _______________________________________________ >>>>> Paparazzi-devel mailing list >>>>> [hidden email] >>>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>>> >>>> _______________________________________________ >>>> Paparazzi-devel mailing list >>>> [hidden email] >>>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >>> >>> >>> _______________________________________________ >>> Paparazzi-devel mailing list >>> [hidden email] >>> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel >> >> >> _______________________________________________ >> Paparazzi-devel mailing list >> [hidden email] >> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel > > > _______________________________________________ > Paparazzi-devel mailing list > [hidden email] > https://lists.nongnu.org/mailman/listinfo/paparazzi-devel _______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel  17_01_18__11_23_54.data (96K) Download Attachment 17_01_18__11_23_54.log (625K) Download Attachment 17_01_18__11_36_24.data (74K) Download Attachment 17_01_18__11_36_24.log (624K) Download Attachment |
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