Fixed wing: TRIM_ROLL

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Fixed wing: TRIM_ROLL

S. Spies
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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Re: Fixed wing: TRIM_ROLL

flixr
Administrator
Hi Steffen,

what exactly do you want to trim?
Each servo/actuator separately or a trim offset on the roll/pitch/yaw commands?
The latter you can do with the COMMAND_ROLL_TRIM, COMMAND_PITCH_TRIM, COMMAND_YAW_TRIM defines.
Or via settings (trim group in https://github.com/paparazzi/paparazzi/blob/master/conf/settings/control/ctl_basic.xml#L9)

Cheers, Felix

On Thu, Jun 30, 2016 at 7:24 PM, Steffen Spies <[hidden email]> wrote:
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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Re: Fixed wing: TRIM_ROLL

S. Spies
Thanks Felix,

during a testflight we realized that there is an offset between the IMU and the plane of around 11° for pitch. 


Am 30.06.2016 um 21:13 schrieb Felix Ruess <[hidden email]>:

Hi Steffen,

what exactly do you want to trim?
Each servo/actuator separately or a trim offset on the roll/pitch/yaw commands?
The latter you can do with the COMMAND_ROLL_TRIM, COMMAND_PITCH_TRIM, COMMAND_YAW_TRIM defines.
Or via settings (trim group in https://github.com/paparazzi/paparazzi/blob/master/conf/settings/control/ctl_basic.xml#L9)

Cheers, Felix

On Thu, Jun 30, 2016 at 7:24 PM, Steffen Spies <[hidden email]> wrote:
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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Re: Fixed wing: TRIM_ROLL

flixr
Administrator
Ah, so that is not a trim, but a rotation between body and IMU frame which you should adjust via
<define name="BODY_TO_IMU_PHI"   value="11.0" unit="deg"/>

On Thu, Jun 30, 2016 at 9:37 PM, Steffen Spies <[hidden email]> wrote:
Thanks Felix,

during a testflight we realized that there is an offset between the IMU and the plane of around 11° for pitch. 


Am 30.06.2016 um 21:13 schrieb Felix Ruess <[hidden email]>:

Hi Steffen,

what exactly do you want to trim?
Each servo/actuator separately or a trim offset on the roll/pitch/yaw commands?
The latter you can do with the COMMAND_ROLL_TRIM, COMMAND_PITCH_TRIM, COMMAND_YAW_TRIM defines.
Or via settings (trim group in https://github.com/paparazzi/paparazzi/blob/master/conf/settings/control/ctl_basic.xml#L9)

Cheers, Felix

On Thu, Jun 30, 2016 at 7:24 PM, Steffen Spies <[hidden email]> wrote:
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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Re: Fixed wing: TRIM_ROLL

flixr
Administrator
In the IMU section (with the prefix="IMU_") or define IMU_BODY_TO_IMU_PHI

On Thu, Jun 30, 2016 at 9:44 PM, Felix Ruess <[hidden email]> wrote:
Ah, so that is not a trim, but a rotation between body and IMU frame which you should adjust via
<define name="BODY_TO_IMU_PHI"   value="11.0" unit="deg"/>

On Thu, Jun 30, 2016 at 9:37 PM, Steffen Spies <[hidden email]> wrote:
Thanks Felix,

during a testflight we realized that there is an offset between the IMU and the plane of around 11° for pitch. 


Am 30.06.2016 um 21:13 schrieb Felix Ruess <[hidden email]>:

Hi Steffen,

what exactly do you want to trim?
Each servo/actuator separately or a trim offset on the roll/pitch/yaw commands?
The latter you can do with the COMMAND_ROLL_TRIM, COMMAND_PITCH_TRIM, COMMAND_YAW_TRIM defines.
Or via settings (trim group in https://github.com/paparazzi/paparazzi/blob/master/conf/settings/control/ctl_basic.xml#L9)

Cheers, Felix

On Thu, Jun 30, 2016 at 7:24 PM, Steffen Spies <[hidden email]> wrote:
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

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Re: Fixed wing: TRIM_ROLL

S. Spies
Thanks Felix,
will give it a try!

Steffen

Am 30.06.2016 um 21:45 schrieb Felix Ruess <[hidden email]>:

In the IMU section (with the prefix="IMU_") or define IMU_BODY_TO_IMU_PHI

On Thu, Jun 30, 2016 at 9:44 PM, Felix Ruess <[hidden email]> wrote:
Ah, so that is not a trim, but a rotation between body and IMU frame which you should adjust via
<define name="BODY_TO_IMU_PHI"   value="11.0" unit="deg"/>

On Thu, Jun 30, 2016 at 9:37 PM, Steffen Spies <[hidden email]> wrote:
Thanks Felix,

during a testflight we realized that there is an offset between the IMU and the plane of around 11° for pitch. 


Am 30.06.2016 um 21:13 schrieb Felix Ruess <[hidden email]>:

Hi Steffen,

what exactly do you want to trim?
Each servo/actuator separately or a trim offset on the roll/pitch/yaw commands?
The latter you can do with the COMMAND_ROLL_TRIM, COMMAND_PITCH_TRIM, COMMAND_YAW_TRIM defines.
Or via settings (trim group in https://github.com/paparazzi/paparazzi/blob/master/conf/settings/control/ctl_basic.xml#L9)

Cheers, Felix

On Thu, Jun 30, 2016 at 7:24 PM, Steffen Spies <[hidden email]> wrote:
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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Re: Fixed wing: TRIM_ROLL

Bart Slinger
Pitch is theta, right?

On Thursday, June 30, 2016, Steffen Spies <[hidden email]> wrote:
Thanks Felix,
will give it a try!

Steffen

Am 30.06.2016 um 21:45 schrieb Felix Ruess <<a href="javascript:_e(%7B%7D,&#39;cvml&#39;,&#39;felix.ruess@gmail.com&#39;);" target="_blank">felix.ruess@...>:

In the IMU section (with the prefix="IMU_") or define IMU_BODY_TO_IMU_PHI

On Thu, Jun 30, 2016 at 9:44 PM, Felix Ruess <<a href="javascript:_e(%7B%7D,&#39;cvml&#39;,&#39;felix.ruess@gmail.com&#39;);" target="_blank">felix.ruess@...> wrote:
Ah, so that is not a trim, but a rotation between body and IMU frame which you should adjust via
<define name="BODY_TO_IMU_PHI"   value="11.0" unit="deg"/>

On Thu, Jun 30, 2016 at 9:37 PM, Steffen Spies <<a href="javascript:_e(%7B%7D,&#39;cvml&#39;,&#39;steffen.spies@gmx.de&#39;);" target="_blank">steffen.spies@...> wrote:
Thanks Felix,

during a testflight we realized that there is an offset between the IMU and the plane of around 11° for pitch. 


Am 30.06.2016 um 21:13 schrieb Felix Ruess <<a href="javascript:_e(%7B%7D,&#39;cvml&#39;,&#39;felix.ruess@gmail.com&#39;);" target="_blank">felix.ruess@...>:

Hi Steffen,

what exactly do you want to trim?
Each servo/actuator separately or a trim offset on the roll/pitch/yaw commands?
The latter you can do with the COMMAND_ROLL_TRIM, COMMAND_PITCH_TRIM, COMMAND_YAW_TRIM defines.
Or via settings (trim group in https://github.com/paparazzi/paparazzi/blob/master/conf/settings/control/ctl_basic.xml#L9)

Cheers, Felix

On Thu, Jun 30, 2016 at 7:24 PM, Steffen Spies <<a href="javascript:_e(%7B%7D,&#39;cvml&#39;,&#39;steffen.spies@gmx.de&#39;);" target="_blank">steffen.spies@...> wrote:
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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Re: Fixed wing: TRIM_ROLL

flixr
Administrator
Ups, didn't read the question closely enough...
Yes, pitch is around the theta (y) axis.
Thanks for the correction Bart!

On Thu, Jun 30, 2016 at 11:46 PM, Bart Slinger <[hidden email]> wrote:
Pitch is theta, right?

On Thursday, June 30, 2016, Steffen Spies <[hidden email]> wrote:
Thanks Felix,
will give it a try!

Steffen

Am 30.06.2016 um 21:45 schrieb Felix Ruess <[hidden email]>:

In the IMU section (with the prefix="IMU_") or define IMU_BODY_TO_IMU_PHI

On Thu, Jun 30, 2016 at 9:44 PM, Felix Ruess <[hidden email]> wrote:
Ah, so that is not a trim, but a rotation between body and IMU frame which you should adjust via
<define name="BODY_TO_IMU_PHI"   value="11.0" unit="deg"/>

On Thu, Jun 30, 2016 at 9:37 PM, Steffen Spies <[hidden email]> wrote:
Thanks Felix,

during a testflight we realized that there is an offset between the IMU and the plane of around 11° for pitch. 


Am 30.06.2016 um 21:13 schrieb Felix Ruess <[hidden email]>:

Hi Steffen,

what exactly do you want to trim?
Each servo/actuator separately or a trim offset on the roll/pitch/yaw commands?
The latter you can do with the COMMAND_ROLL_TRIM, COMMAND_PITCH_TRIM, COMMAND_YAW_TRIM defines.
Or via settings (trim group in https://github.com/paparazzi/paparazzi/blob/master/conf/settings/control/ctl_basic.xml#L9)

Cheers, Felix

On Thu, Jun 30, 2016 at 7:24 PM, Steffen Spies <[hidden email]> wrote:
Hi,

is TRIM_ROLL/TRIM_PITCH like shown on this page
http://wiki.paparazziuav.org/wiki/Release_Upgrades
also working on a fixed wing? Regarding this page it is rotorcraft only.
If not, what is used there for TRIM?

Thanks,
    Steffen

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