Plane drops after take off on energyadaptative loop

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Plane drops after take off on energyadaptative loop

josibarns
Hi everyone,

I am having some issues with my take off since I switch to the energyadaptative control loop.
I take off in automatic using the following:

<block group="home" key="R" name="AUTOTAKEOFF" strip_button="AutoTakeoff">
      <exception cond="GetPosAlt() > ground_alt+15" deroute="climb"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <attitude pitch="45" roll="0" throttle="1" vmode="throttle"/>
    </block>
    <block group="home" key="R" name="climb">
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>
      <attitude pitch="35" roll="0" throttle="0.70" vmode="throttle"/>
    </block>
    <block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>

When the AP switch to standby, the plane drops from the sky and catches up quickly and the rest of the flight is normal. I'm using umarim lite 2.0 on a fixed delta wing with v5.4.2_stable-3-gc8d866b-dirty and I attached my last flight log.

Best,
Joseph

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Re: Plane drops after take off on energyadaptative loop

flixr
Administrator
Hi Joseph,

to be honest I don't know much about the energy control loop and I haven't been flying fixedwings in a long time...
So maybe Gautier or Christophe can help out here?

Cheers, Felix

On Fri, Feb 19, 2016 at 6:58 PM, Joseph Muhlhausen <[hidden email]> wrote:
Hi everyone,

I am having some issues with my take off since I switch to the energyadaptative control loop.
I take off in automatic using the following:

<block group="home" key="R" name="AUTOTAKEOFF" strip_button="AutoTakeoff">
      <exception cond="GetPosAlt() > ground_alt+15" deroute="climb"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <attitude pitch="45" roll="0" throttle="1" vmode="throttle"/>
    </block>
    <block group="home" key="R" name="climb">
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>
      <attitude pitch="35" roll="0" throttle="0.70" vmode="throttle"/>
    </block>
    <block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>

When the AP switch to standby, the plane drops from the sky and catches up quickly and the rest of the flight is normal. I'm using umarim lite 2.0 on a fixed delta wing with v5.4.2_stable-3-gc8d866b-dirty and I attached my last flight log.

Best,
Joseph

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Re: Plane drops after take off on energyadaptative loop

josibarns
Thanks Felix,

I have looked more closely at the logs and I think the plane drops because the airspeed drops when transitioning to the STANDBY block (see screenshot).

Gautier or Christophe any suggestion on how to avoid this behavior?

Thanks,
Joseph



On Sat, Feb 20, 2016 at 1:12 PM, Felix Ruess <[hidden email]> wrote:
Hi Joseph,

to be honest I don't know much about the energy control loop and I haven't been flying fixedwings in a long time...
So maybe Gautier or Christophe can help out here?

Cheers, Felix

On Fri, Feb 19, 2016 at 6:58 PM, Joseph Muhlhausen <[hidden email]> wrote:
Hi everyone,

I am having some issues with my take off since I switch to the energyadaptative control loop.
I take off in automatic using the following:

<block group="home" key="R" name="AUTOTAKEOFF" strip_button="AutoTakeoff">
      <exception cond="GetPosAlt() > ground_alt+15" deroute="climb"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <attitude pitch="45" roll="0" throttle="1" vmode="throttle"/>
    </block>
    <block group="home" key="R" name="climb">
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>
      <attitude pitch="35" roll="0" throttle="0.70" vmode="throttle"/>
    </block>
    <block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>

When the AP switch to standby, the plane drops from the sky and catches up quickly and the rest of the flight is normal. I'm using umarim lite 2.0 on a fixed delta wing with v5.4.2_stable-3-gc8d866b-dirty and I attached my last flight log.

Best,
Joseph

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Re: Plane drops after take off on energyadaptative loop

Gautier Hattenberger-3
Hi,

I have never really used it a actually. You probably have the gain energy_diff_pgain a bit to high. When the airspeed drops, it pitch down to gain airspeed. What was your actual airspeed setpoint?

Gautier

Le 22/02/2016 19:07, Joseph Muhlhausen a écrit :
Thanks Felix,

I have looked more closely at the logs and I think the plane drops because the airspeed drops when transitioning to the STANDBY block (see screenshot).

Gautier or Christophe any suggestion on how to avoid this behavior?

Thanks,
Joseph



On Sat, Feb 20, 2016 at 1:12 PM, Felix Ruess <[hidden email]> wrote:
Hi Joseph,

to be honest I don't know much about the energy control loop and I haven't been flying fixedwings in a long time...
So maybe Gautier or Christophe can help out here?

Cheers, Felix

On Fri, Feb 19, 2016 at 6:58 PM, Joseph Muhlhausen <[hidden email]> wrote:
Hi everyone,

I am having some issues with my take off since I switch to the energyadaptative control loop.
I take off in automatic using the following:

<block group="home" key="R" name="AUTOTAKEOFF" strip_button="AutoTakeoff">
      <exception cond="GetPosAlt() > ground_alt+15" deroute="climb"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <attitude pitch="45" roll="0" throttle="1" vmode="throttle"/>
    </block>
    <block group="home" key="R" name="climb">
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>
      <attitude pitch="35" roll="0" throttle="0.70" vmode="throttle"/>
    </block>
    <block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>

When the AP switch to standby, the plane drops from the sky and catches up quickly and the rest of the flight is normal. I'm using umarim lite 2.0 on a fixed delta wing with v5.4.2_stable-3-gc8d866b-dirty and I attached my last flight log.

Best,
Joseph

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Re: Plane drops after take off on energyadaptative loop

josibarns
Hi Gautier,

The airspeed setpoint was 17 m/s and my energy gains are:

    <define name="ENERGY_TOT_PGAIN" value="0.18"/>
    <define name="ENERGY_TOT_IGAIN" value="0.3"/>
    <define name="ENERGY_DIFF_PGAIN" value="0.18"/>
    <define name="ENERGY_DIFF_IGAIN" value="0.25"/>

I move from the standard control loop to the energyadaptative loop because of trouble with altitude control on the standard loop. If nobody is using energy or total energy, I may as well move to a loop used by many so I can get some advice. What airspeed control loop are you using on fixed wing?

Thanks!
Joseph

On Mon, Feb 22, 2016 at 3:59 PM, Gautier Hattenberger <[hidden email]> wrote:
Hi,

I have never really used it a actually. You probably have the gain energy_diff_pgain a bit to high. When the airspeed drops, it pitch down to gain airspeed. What was your actual airspeed setpoint?

Gautier


Le 22/02/2016 19:07, Joseph Muhlhausen a écrit :
Thanks Felix,

I have looked more closely at the logs and I think the plane drops because the airspeed drops when transitioning to the STANDBY block (see screenshot).

Gautier or Christophe any suggestion on how to avoid this behavior?

Thanks,
Joseph



On Sat, Feb 20, 2016 at 1:12 PM, Felix Ruess <[hidden email]> wrote:
Hi Joseph,

to be honest I don't know much about the energy control loop and I haven't been flying fixedwings in a long time...
So maybe Gautier or Christophe can help out here?

Cheers, Felix

On Fri, Feb 19, 2016 at 6:58 PM, Joseph Muhlhausen <[hidden email][hidden email]> wrote:
Hi everyone,

I am having some issues with my take off since I switch to the energyadaptative control loop.
I take off in automatic using the following:

<block group="home" key="R" name="AUTOTAKEOFF" strip_button="AutoTakeoff">
      <exception cond="GetPosAlt() > ground_alt+15" deroute="climb"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <attitude pitch="45" roll="0" throttle="1" vmode="throttle"/>
    </block>
    <block group="home" key="R" name="climb">
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>
      <attitude pitch="35" roll="0" throttle="0.70" vmode="throttle"/>
    </block>
    <block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>

When the AP switch to standby, the plane drops from the sky and catches up quickly and the rest of the flight is normal. I'm using umarim lite 2.0 on a fixed delta wing with v5.4.2_stable-3-gc8d866b-dirty and I attached my last flight log.

Best,
Joseph

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Re: Plane drops after take off on energyadaptative loop

Christophe De Wagter

Hi,

Can you plot the desired pitch angle? What are the nominal pitch and throttle defined in your airframe file?

It looks like the initial pitch angle is way too low and it takes quite long before the integrator fixes this.

To me it does not look like a too low diff gain at all.

On Feb 23, 2016 05:58, "Joseph Muhlhausen" <[hidden email]> wrote:
Hi Gautier,

The airspeed setpoint was 17 m/s and my energy gains are:

    <define name="ENERGY_TOT_PGAIN" value="0.18"/>
    <define name="ENERGY_TOT_IGAIN" value="0.3"/>
    <define name="ENERGY_DIFF_PGAIN" value="0.18"/>
    <define name="ENERGY_DIFF_IGAIN" value="0.25"/>

I move from the standard control loop to the energyadaptative loop because of trouble with altitude control on the standard loop. If nobody is using energy or total energy, I may as well move to a loop used by many so I can get some advice. What airspeed control loop are you using on fixed wing?

Thanks!
Joseph

On Mon, Feb 22, 2016 at 3:59 PM, Gautier Hattenberger <[hidden email]> wrote:
Hi,

I have never really used it a actually. You probably have the gain energy_diff_pgain a bit to high. When the airspeed drops, it pitch down to gain airspeed. What was your actual airspeed setpoint?

Gautier


Le 22/02/2016 19:07, Joseph Muhlhausen a écrit :
Thanks Felix,

I have looked more closely at the logs and I think the plane drops because the airspeed drops when transitioning to the STANDBY block (see screenshot).

Gautier or Christophe any suggestion on how to avoid this behavior?

Thanks,
Joseph



On Sat, Feb 20, 2016 at 1:12 PM, Felix Ruess <[hidden email]> wrote:
Hi Joseph,

to be honest I don't know much about the energy control loop and I haven't been flying fixedwings in a long time...
So maybe Gautier or Christophe can help out here?

Cheers, Felix

On Fri, Feb 19, 2016 at 6:58 PM, Joseph Muhlhausen <[hidden email][hidden email]> wrote:
Hi everyone,

I am having some issues with my take off since I switch to the energyadaptative control loop.
I take off in automatic using the following:

<block group="home" key="R" name="AUTOTAKEOFF" strip_button="AutoTakeoff">
      <exception cond="GetPosAlt() > ground_alt+15" deroute="climb"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <attitude pitch="45" roll="0" throttle="1" vmode="throttle"/>
    </block>
    <block group="home" key="R" name="climb">
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>
      <attitude pitch="35" roll="0" throttle="0.70" vmode="throttle"/>
    </block>
    <block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>

When the AP switch to standby, the plane drops from the sky and catches up quickly and the rest of the flight is normal. I'm using umarim lite 2.0 on a fixed delta wing with v5.4.2_stable-3-gc8d866b-dirty and I attached my last flight log.

Best,
Joseph

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Re: Plane drops after take off on energyadaptative loop

josibarns
Hi Christoph,

Thanks for the quick response!

The nominal pitch angle is 0 and the nominal throttle is 0.45. Now that I think about it, at 45% throttle the nominal pitch should probably be around 10 degree.

Here are the gains of the vertical control loop:

section name="VERTICAL CONTROL" prefix="V_CTL_">
 
    <define name="GLIDE_RATIO" value="8"/>
    <define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
    <define name="MAX_ACCELERATION" value="1"/>
    <define name="THROTTLE_SLEW_LIMITER" value="0.4" unit="m/s/s"/>
 
    <define name="ALTITUDE_PGAIN" value="0.15"/>
    <define name="ALTITUDE_MAX_CLIMB" value="10"/> <!--default 2, values higher than 3 only for energy loop with airspeed-->
 
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0."/> <!-- default 0 -->
 
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
 
    <define name="AIRSPEED_PGAIN" value="0.61"/>
 
    <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0"/>
    <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0"/>
 
    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0"/>
    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0"/>
    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0"/>
 
    <define name="ENERGY_TOT_PGAIN" value="0.18"/>
    <define name="ENERGY_TOT_IGAIN" value="0.3"/>
    <define name="ENERGY_DIFF_PGAIN" value="0.18"/>
    <define name="ENERGY_DIFF_IGAIN" value="0.25"/>
 
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="7.0" unit="m/s"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>

On Mon, Feb 22, 2016 at 11:47 PM, Christophe De Wagter <[hidden email]> wrote:

Hi,

Can you plot the desired pitch angle? What are the nominal pitch and throttle defined in your airframe file?

It looks like the initial pitch angle is way too low and it takes quite long before the integrator fixes this.

To me it does not look like a too low diff gain at all.

On Feb 23, 2016 05:58, "Joseph Muhlhausen" <[hidden email]> wrote:
Hi Gautier,

The airspeed setpoint was 17 m/s and my energy gains are:

    <define name="ENERGY_TOT_PGAIN" value="0.18"/>
    <define name="ENERGY_TOT_IGAIN" value="0.3"/>
    <define name="ENERGY_DIFF_PGAIN" value="0.18"/>
    <define name="ENERGY_DIFF_IGAIN" value="0.25"/>

I move from the standard control loop to the energyadaptative loop because of trouble with altitude control on the standard loop. If nobody is using energy or total energy, I may as well move to a loop used by many so I can get some advice. What airspeed control loop are you using on fixed wing?

Thanks!
Joseph

On Mon, Feb 22, 2016 at 3:59 PM, Gautier Hattenberger <[hidden email]> wrote:
Hi,

I have never really used it a actually. You probably have the gain energy_diff_pgain a bit to high. When the airspeed drops, it pitch down to gain airspeed. What was your actual airspeed setpoint?

Gautier


Le 22/02/2016 19:07, Joseph Muhlhausen a écrit :
Thanks Felix,

I have looked more closely at the logs and I think the plane drops because the airspeed drops when transitioning to the STANDBY block (see screenshot).

Gautier or Christophe any suggestion on how to avoid this behavior?

Thanks,
Joseph



On Sat, Feb 20, 2016 at 1:12 PM, Felix Ruess <[hidden email]> wrote:
Hi Joseph,

to be honest I don't know much about the energy control loop and I haven't been flying fixedwings in a long time...
So maybe Gautier or Christophe can help out here?

Cheers, Felix

On Fri, Feb 19, 2016 at 6:58 PM, Joseph Muhlhausen <[hidden email][hidden email]> wrote:
Hi everyone,

I am having some issues with my take off since I switch to the energyadaptative control loop.
I take off in automatic using the following:

<block group="home" key="R" name="AUTOTAKEOFF" strip_button="AutoTakeoff">
      <exception cond="GetPosAlt() > ground_alt+15" deroute="climb"/>
      <set value="0" var="kill_throttle"/>
      <set value="0" var="autopilot_flight_time"/>
      <attitude pitch="45" roll="0" throttle="1" vmode="throttle"/>
    </block>
    <block group="home" key="R" name="climb">
      <exception cond="GetPosAlt() > ground_alt+50" deroute="Standby"/>
      <attitude pitch="35" roll="0" throttle="0.70" vmode="throttle"/>
    </block>
    <block group="home" key="Ctrl+a" name="Standby" strip_button="Standby" strip_icon="home.png">
      <circle radius="nav_radius" wp="STDBY"/>
    </block>

When the AP switch to standby, the plane drops from the sky and catches up quickly and the rest of the flight is normal. I'm using umarim lite 2.0 on a fixed delta wing with v5.4.2_stable-3-gc8d866b-dirty and I attached my last flight log.

Best,
Joseph

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