Advanced Navigation Routines - Revision history

Ghattenb: /* Bungee Takeoff */

2019-06-18T11:10:19Z

Bungee Takeoff

← Older revision		Revision as of 05:10, 18 June 2019
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	== Bungee Takeoff ==		== Bungee Takeoff ==

	The bungee takeoff routine helps to automate takeoff by turning the throttle on after the bungee has been release from the hook. The only waypoint you need for this routine is the position of where the bungee is pegged to the ground. Using this waypoint, a line is drawn from the position of the aircraft to the bungee waypoint. This line is called the launch line and will stop updating once the speed of the plane exceeds the ~~MinSpeed~~. This allows the user to initialize the routine, move the plane and launch it without having to reinitialize. Once the plane is launched, it will follow the launch line until it crosses the throttle line. The throttle line is a line perpendicular to the launch line at a distance d from the bungee waypoint (see the diagram below). When the plane crosses the throttle line and the speed of the aircraft is greater than ~~MinSpeed~~, the throttle comes on. After the throttle comes on, the plane keeps going straight until it reaches a specified speed and altitude above the bungee waypoint altitude. When it reaches the takeoff speed and takeoff altitude, the next block in the flight plan is executed. The takeoff speed, takeoff altitude, ~~MinSpeed~~ and the distance d from the bungee waypoint are specified in the airframe file. You will need to add those values to your airframe file like this...		The bungee takeoff routine helps to automate takeoff by turning the throttle on after the bungee has been release from the hook. The only waypoint you need for this routine is the position of where the bungee is pegged to the ground. Using this waypoint, a line is drawn from the position of the aircraft to the bungee waypoint. This line is called the launch line and will stop updating once the speed of the plane exceeds the MIN_SPEED. This allows the user to initialize the routine, move the plane and launch it without having to reinitialize. Once the plane is launched, it will follow the launch line until it crosses the throttle line. The throttle line is a line perpendicular to the launch line at a distance d from the bungee waypoint (see the diagram below). When the plane crosses the throttle line and the speed of the aircraft is greater than MIN_SPEED, the throttle comes on. After the throttle comes on, the plane keeps going straight until it reaches a specified speed and altitude above the bungee waypoint altitude. When it reaches the takeoff speed and takeoff altitude, the next block in the flight plan is executed. The takeoff speed, takeoff altitude, MIN_SPEED and the distance d from the bungee waypoint are specified in the airframe file. You will need to add those values to your airframe file like this...

	{{Box Code\|conf/airframes/myAircraft.xml\|		{{Box Code\|conf/airframes/myAircraft.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="~~Takeoff~~" prefix="~~Takeoff_~~">		<section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
	<define name="~~Height~~" value="30" unit="m"/>		<define name="HEIGHT" value="30." unit="m"/>
	<define name="~~Speed~~" value="15" unit="m/s"/>		<define name="AIRSPEED" value="15." unit="m/s"/>
	<define name="~~Distance~~" value="3" unit="m"/>		<define name="DISTANCE" value="10." unit="m"/>
	<define name="~~MinSpeed~~" value="5" unit="m/s"/>		<define name="MIN_SPEED" value="5." unit="m/s"/>
			<define name="PITCH" value="15." unit="deg"/>
			<define name="THROTTLE" value="1.0"/>
	</section>		</section>
	</source>		</source>
	}}		}}

	You can add the bungee takeoff routine to your flight plan like so~~...~~		You can add the bungee takeoff routine to your flight plan like so, assuming you have a BUNGEE waypoint correctly defined:

	{{Box Code\|conf/flight_plans/myflightplan.xml\|		{{Box Code\|conf/flight_plans/myflightplan.xml\|
	<source lang="xml">		<source lang="xml">
	<block name="Takeoff" strip_button="Takeoff ~~(wp CLIMB)~~" strip_icon="takeoff.png">		<block name="Takeoff" strip_button="Bungee Takeoff" strip_icon="takeoff.png">
	<~~call~~ fun="~~InitializeBungeeTakeoff~~(~~WP_Bungee~~)"/>		<call_once fun="nav_bungee_takeoff_setup(WP_BUNGEE)"/>
	<call fun="~~BungeeTakeoff~~()"/>		<call fun="nav_bungee_takeoff_run()"/>
	</block>		</block>
	</source>		</source>
	}}		}}

	To get this routine to work consistently, you will need to tune the values in the airframe config file. If the prop doesn't automatically turn on when it crosses the throttle line, it could be because the Distance and/or the ~~MinSpeed~~ are too big. If it turns on too early, it could be because the Distance and/or ~~MinSpeed~~ are too small.		To get this routine to work consistently, you will need to tune the values in the airframe config file. If the prop doesn't automatically turn on when it crosses the throttle line, it could be because the Distance and/or the MIN_SPEED are too big. If it turns on too early, it could be because the Distance and/or MIN_SPEED are too small.

	<span style="color:#ff0000"> *Precaution should be taken while tuning the auto takeoff with electrical plane. If the ~~MinSpeed~~ is too low, the prop could turn on while holding the aircraft!*</span>		<span style="color:#ff0000"> *Precaution should be taken while tuning the auto takeoff with electrical plane. If the MIN_SPEED is too low, the prop could turn on while holding the aircraft!*</span>

	<gallery>		<gallery>

Openuas: /* Implementation */

2018-04-18T10:04:00Z

Implementation

← Older revision		Revision as of 04:04, 18 April 2018
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	<source lang="xml">		<source lang="xml">
	<block name="Poly Survey">		<block name="Poly Survey">
	<call_once fun="nav_survey_polygon_setup(WP_S1, NumberOfCorners, AngelOfSweep, WidthOfSweep, ~~DistanceOfPhototrigger~~, MinimumTrunRadius, AltitudeOfSurvey)"/>		<call_once fun="nav_survey_polygon_setup(WP_S1, NumberOfCorners, AngelOfSweep, WidthOfSweep, DistanceOfASensorTrigger, MinimumTrunRadius, AltitudeOfSurvey)"/>
	<call fun="nav_survey_polygon_run()"/>		<call fun="nav_survey_polygon_run()"/>
	</block>		</block>

Openuas: Updated to current syntax, and yes the syntax get uglier every time indeed. polysurvey should be fixed once and for all...

2018-04-18T09:58:38Z

Updated to current syntax, and yes the syntax get uglier every time indeed. polysurvey should be fixed once and for all...

← Older revision		Revision as of 03:58, 18 April 2018
Line 110:		Line 110:
	<source lang="xml">		<source lang="xml">
	<block name="Poly Survey">		<block name="Poly Survey">
	<~~call~~ fun="~~InitializePolygonSurvey~~(WP_S1, ~~NumOfCorners~~, ~~SweepWidth~~, ~~Orientation~~)"/>		<call_once fun="nav_survey_polygon_setup(WP_S1, NumberOfCorners, AngelOfSweep, WidthOfSweep, DistanceOfPhototrigger, MinimumTrunRadius, AltitudeOfSurvey)"/>
	<call fun="~~PolygonSurvey~~()"/>		<call fun="nav_survey_polygon_run()"/>
	</block>		</block>
	</source>		</source>
Line 154:		Line 154:
	Image:PolySurvey90DegreeEx.png\|90 Degrees		Image:PolySurvey90DegreeEx.png\|90 Degrees
	</gallery>		</gallery>


	==== Alternative configurations ====		==== Alternative configurations ====

Openuas: /* Navigation Routines (Prev.OSAM) */

2018-04-18T09:33:52Z

Navigation Routines (Prev.OSAM)

← Older revision		Revision as of 03:33, 18 April 2018
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	= Available navigation modules =		= Available navigation modules =

	== Navigation Routines ~~(Prev.OSAM)~~ ==		== Navigation Routines ==

	Thanks to Team OSAM's contribution these navigation capabilities have been added.		Thanks to Team OSAM's contribution these navigation capabilities have been added.

Iman at 06:40, 17 September 2017

2017-09-17T06:40:35Z

← Older revision		Revision as of 00:40, 17 September 2017
Line 77:		Line 77:
	}}		}}

	To get this routine to work consistently, you will need to tune the values in the airframe config file. If the prop doesn't automatically turn on when it crosses the throttle line, it could be because the Distance and/or the MinSpeed are too big. If it turns on to early, it could be because the Distance and/or MinSpeed are too small.		To get this routine to work consistently, you will need to tune the values in the airframe config file. If the prop doesn't automatically turn on when it crosses the throttle line, it could be because the Distance and/or the MinSpeed are too big. If it turns on too early, it could be because the Distance and/or MinSpeed are too small.

	<span style="color:#ff0000"> *Precaution should be taken while tuning the auto takeoff with electrical plane. If the MinSpeed is too low, the prop could turn on while holding the aircraft!*</span>		<span style="color:#ff0000"> *Precaution should be taken while tuning the auto takeoff with electrical plane. If the MinSpeed is too low, the prop could turn on while holding the aircraft!*</span>

Lethargi: /* Navigation Routines (Prev.OSAM) */ : added the new path

2017-03-29T13:56:26Z

Navigation Routines (Prev.OSAM): : added the new path

← Older revision		Revision as of 07:56, 29 March 2017
Line 21:		Line 21:
	</source>		</source>

	'''NOTE''' The latest version of PaparazziUAV (v5.10 is the one I am using at the moment) does not have the OSAM navigation contributions as a subsystem but a module. Not sure from which version the changes apply, but if you cannot find the header file in the subsystems folder, it is most probably in the modules folder.		'''NOTE''' The latest version of PaparazziUAV (v5.10 is the one I am using at the moment) does not have the OSAM navigation contributions as a subsystem but a module. It can be found in the link mentioned below. Not sure from which version the changes apply, but if you cannot find the header file in the subsystems folder, it is most probably in the modules folder.

			sw/airborne/modules/nav

	== Flower ==		== Flower ==

Lethargi: /* Navigation Routines (Prev.OSAM) */ : put a note mentioning that the newer versions of PaparazziUAV does not OSAM as a subsystem but a module

2017-03-29T13:52:40Z

Navigation Routines (Prev.OSAM): : put a note mentioning that the newer versions of PaparazziUAV does not OSAM as a subsystem but a module

← Older revision		Revision as of 07:52, 29 March 2017
Line 20:		Line 20:
	#include "subsystems/navigation/OSAMNav.h"		#include "subsystems/navigation/OSAMNav.h"
	</source>		</source>

			'''NOTE''' The latest version of PaparazziUAV (v5.10 is the one I am using at the moment) does not have the OSAM navigation contributions as a subsystem but a module. Not sure from which version the changes apply, but if you cannot find the header file in the subsystems folder, it is most probably in the modules folder.

	== Flower ==		== Flower ==

IHaveADrone: /* Bungee Takeoff */

2016-10-27T15:51:06Z

Bungee Takeoff

← Older revision		Revision as of 09:51, 27 October 2016
Line 51:		Line 51:
	The bungee takeoff routine helps to automate takeoff by turning the throttle on after the bungee has been release from the hook. The only waypoint you need for this routine is the position of where the bungee is pegged to the ground. Using this waypoint, a line is drawn from the position of the aircraft to the bungee waypoint. This line is called the launch line and will stop updating once the speed of the plane exceeds the MinSpeed. This allows the user to initialize the routine, move the plane and launch it without having to reinitialize. Once the plane is launched, it will follow the launch line until it crosses the throttle line. The throttle line is a line perpendicular to the launch line at a distance d from the bungee waypoint (see the diagram below). When the plane crosses the throttle line and the speed of the aircraft is greater than MinSpeed, the throttle comes on. After the throttle comes on, the plane keeps going straight until it reaches a specified speed and altitude above the bungee waypoint altitude. When it reaches the takeoff speed and takeoff altitude, the next block in the flight plan is executed. The takeoff speed, takeoff altitude, MinSpeed and the distance d from the bungee waypoint are specified in the airframe file. You will need to add those values to your airframe file like this...		The bungee takeoff routine helps to automate takeoff by turning the throttle on after the bungee has been release from the hook. The only waypoint you need for this routine is the position of where the bungee is pegged to the ground. Using this waypoint, a line is drawn from the position of the aircraft to the bungee waypoint. This line is called the launch line and will stop updating once the speed of the plane exceeds the MinSpeed. This allows the user to initialize the routine, move the plane and launch it without having to reinitialize. Once the plane is launched, it will follow the launch line until it crosses the throttle line. The throttle line is a line perpendicular to the launch line at a distance d from the bungee waypoint (see the diagram below). When the plane crosses the throttle line and the speed of the aircraft is greater than MinSpeed, the throttle comes on. After the throttle comes on, the plane keeps going straight until it reaches a specified speed and altitude above the bungee waypoint altitude. When it reaches the takeoff speed and takeoff altitude, the next block in the flight plan is executed. The takeoff speed, takeoff altitude, MinSpeed and the distance d from the bungee waypoint are specified in the airframe file. You will need to add those values to your airframe file like this...

	{{Box Code\|conf/~~flight_plans~~/~~myflightplan~~.xml\|		{{Box Code\|conf/airframes/myAircraft.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="Takeoff" prefix="Takeoff_">		<section name="Takeoff" prefix="Takeoff_">

IHaveADrone: xml box code

2016-10-27T15:47:20Z

xml box code

Show changes

IHaveADrone: /* Flower */ xml box code

2016-10-27T15:30:29Z

Flower: xml box code

← Older revision		Revision as of 09:30, 27 October 2016
Line 22:		Line 22:
	In our example the waypoints are called "Center" and "Edge":		In our example the waypoints are called "Center" and "Edge":

			{{Box Code\|conf/flight_plans/myflightplan.xml\|
			<source lang="xml">
	<waypoint name="Center" x="-20.0" y="-160.0"/>		<waypoint name="Center" x="-20.0" y="-160.0"/>
	<waypoint name="Edge" x="-10.0" y="-60.0"/>		<waypoint name="Edge" x="-10.0" y="-60.0"/>
			</source>
			}}

	Then you can add flower to your flight plan:		Then you can add flower to your flight plan:

			{{Box Code\|conf/flight_plans/myflightplan.xml\|
			<source lang="xml">
	<block name="Flower">		<block name="Flower">
	<call fun="InitializeFlower(WP_Center,WP_Edge)"/>		<call fun="InitializeFlower(WP_Center,WP_Edge)"/>
	<call fun="FlowerNav()"/>		<call fun="FlowerNav()"/>
	</block>		</block>
			</source>
			}}

	Note that in the function InitializeFlower the waypoints need the prefix "WP_".		Note that in the function InitializeFlower the waypoints need the prefix "WP_".