Tuning - Revision history

Philipan: corrected link to users manual

2016-07-09T15:26:44Z

corrected link to users manual

← Older revision		Revision as of 09:26, 9 July 2016
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	== Intro ==		== Intro ==

	This page provides guidelines for tuning a new aircraft and additional practical tips. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID\|PID Controllers]] before you begin tuning your airframe. Use of the [[RTPlotter\|real time plotter]] may help to visualize and understand the behavior of the control loops. Review [~~http~~://~~paparazzi~~.~~enac~~.fr/w/images/Users_manual.pdf User Manual] as well. Also reading [http://www.av8n.com/how/ See How It Flies, by John S. Denker] is very beneficial to get your airframe tuned well.		This page provides guidelines for tuning a new aircraft and additional practical tips. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID\|PID Controllers]] before you begin tuning your airframe. Use of the [[RTPlotter\|real time plotter]] may help to visualize and understand the behavior of the control loops. Review [https://wiki.paparazziuav.org/w/images/0/0a/Users_manual.pdf User Manual] as well. Also reading [http://www.av8n.com/how/ See How It Flies, by John S. Denker] is very beneficial to get your airframe tuned well.

	==Energy Control==		==Energy Control==

IHaveADrone: typo

2015-08-13T18:27:25Z

typo

← Older revision		Revision as of 12:27, 13 August 2015
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	* Experiment with different throttle settings and tune P and D gains as needed		* Experiment with different throttle settings and tune P and D gains as needed

	If you are alone in the field while tuning, setting values via your RC transmitter may come in handy, see [[Telemetry#R.2FC_Transmitter_Data_Uplink\|RC ~~reveiver~~ data uplink]]		If you are alone in the field while tuning, setting values via your RC transmitter may come in handy, see [[Telemetry#R.2FC_Transmitter_Data_Uplink\|RC receiver data uplink]]

	== Auto 2 ==		== Auto 2 ==

NeoFromMatrix: /* Neutrals */

2014-01-15T18:09:12Z

Neutrals

@@ Line 32: / Line 32: @@
 == Sensors ==
-=== Neutrals ===
+=== IMU / Sensors ===
-* Put the aircraft in a styrofoam container or completely seal the IR sensors with styrofoam or similar blocks and get a reading of the neutrals for each axis.  Also take the gyro neutrals at this time.  Update your airframe file, flash the AP and re-check the neutrals.
+You may want to look at the [[ImuCalibration]]. <br/>
+While some Sensors can be operated with factory calibration (MPU6050 or 6000) other, for example Magnetometers require a calibration to the earth magnetic field and UAV radiated magnetic field to work satisfactory.
 === Directions ===

Mbina: /* Other Misc things before flying */ ; adding hyperref

2013-09-24T19:52:43Z

Other Misc things before flying: ; adding hyperref

← Older revision		Revision as of 13:52, 24 September 2013
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	==Other Misc things before flying==		==Other Misc things before flying==

	It's very important to address the issue of low voltage cut-off before flying (LVC). There's a good chance that the LVC will kick in on the brushless ESC before the Paparazzi detects it. If this happens, the ESC cut's off throttle, and there's no way the autopilot knows this, the plane keeps loosing altitude, the autopilot tries to increase throttle, but the ESC does not respond, almost always leading to a mishap. To avoid this, either turn off the LVC on the ESC, OR, make sure the autopilot kills throttle first, by programming the CATASTROPHIC_BAT_LEVEL to something higher than the ESC LVC. For example, set CATASTROPHIC_BAT_LEVEL to 9.5V, and the ESC LVC at 9V. Don't ask how we know, it was a safe landing into a small tree :) No damage. BUT you cant get lucky always!		It's very important to address the issue of low voltage cut-off before flying (LVC).
			There's a good chance that the LVC will kick in on the brushless ESC before the Paparazzi detects it.
			If this happens, the ESC cut's off throttle, and there's no way the autopilot knows this, the plane keeps loosing altitude,
			the autopilot tries to increase throttle, but the ESC does not respond, almost always leading to a mishap.
			To avoid this, either turn off the LVC on the ESC, OR, make sure the autopilot kills throttle first,
			by programming the CATASTROPHIC_BAT_LEVEL to something higher than the ESC LVC.
			For example, set CATASTROPHIC_BAT_LEVEL to 9.5V, and the ESC LVC at 9V.
			Don't ask how we know, it was a safe landing into a small tree :) No damage. BUT you cant get lucky always!

			Have a look at the [[Failsafe\|failsafe]] and [[Airframe_Configuration#Battery\|battery configuration]] for more details.

	[[Category:Software]] [[Category:User_Documentation]]		[[Category:Software]] [[Category:User_Documentation]]

Mbina: /* Auto 2 */

2013-09-24T19:48:09Z

Auto 2

← Older revision		Revision as of 13:48, 24 September 2013
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	== Auto 2 ==		== Auto 2 ==
	* Engage ~~Auto2~~ and you're done! Make sure you keep a finger on the Mode switch to take over just in case.		* Engage [[AutopilotModes\|AUTO2]] and you're done! Make sure you keep a finger on the Mode switch to take over just in case.

	==Alternate Tuning Procedure==		==Alternate Tuning Procedure==

Mbina: /* Quickstart */ ; adding links

2013-09-24T19:47:44Z

Quickstart: ; adding links

Alonsoac: /* Sample/Simple Altitude and Throttle Loop */

2013-09-22T17:12:20Z

Sample/Simple Altitude and Throttle Loop

← Older revision		Revision as of 11:12, 22 September 2013
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	---------------------		---------------------

	Step1: outerloop: if altitude is not good -> compute a climb/descend rate. (including ~~MAX_CLIMB~~)		Step1: outerloop: if altitude is not good -> compute a climb/descend rate. (including ALTITUDE_MAX_CLIMB)

	climb_command = altitude_error x alt_pgain		climb_command = altitude_error x alt_pgain

	e.g. 10 m too low x 0.1 alt gain = climb_command at 1 m/s		e.g. 10 m too low x 0.1 alt gain = climb_command at 1 m/s
	e.g. 50 m too low x 0.1 alt gain = climb at 5 m/s > ~~MAX_CLIMB~~(2) -> climb_command = 2m/s		e.g. 50 m too low x 0.1 alt gain = climb at 5 m/s > ALTITUDE_MAX_CLIMB(2) -> climb_command = 2m/s

	---------------------		---------------------

Openuas: /* Energy Control */

2013-06-18T18:41:44Z

Energy Control

← Older revision		Revision as of 12:41, 18 June 2013
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	==Energy Control==		==Energy Control==

	If you came to this page and want to learn about how to perform your [[~~TuningEnergyControl~~ Energy control tuning]], this is '''not''' the page to read, go to [tuning energy control loops]		If you came to this page and want to learn about how to perform your [[Tuning_energy_control_loops \| Energy control tuning]], this is '''not''' the page to read, go to [[Tuning_energy_control_loops \| tuning energy control loops]].

	==Quickstart==		==Quickstart==

Openuas: /* Energy Control */

2013-06-18T18:39:55Z

Energy Control

← Older revision		Revision as of 12:39, 18 June 2013
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	==Energy Control==		==Energy Control==

	If you came to this page and want to learn about how to perform your [[TuningEnergyControl Energy control tuning]], this is '''not''' the page to read, go to [~~[TuningEnergyControl~~ tuning energy control loops]]		If you came to this page and want to learn about how to perform your [[TuningEnergyControl Energy control tuning]], this is '''not''' the page to read, go to [tuning energy control loops]

	==Quickstart==		==Quickstart==

Openuas at 18:36, 18 June 2013

2013-06-18T18:36:22Z

← Older revision		Revision as of 12:36, 18 June 2013
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	This page provides ~~some tips and~~ guidelines for tuning a new aircraft. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID\|PID Controllers]] before you begin. Use of the [[RTPlotter\|real time plotter]] may help to visualize and understand the behavior of the control loops. Review [http://paparazzi.enac.fr/w/images/Users_manual.pdf User Manual] as well. Also reading [[http://www.av8n.com/how/ See How It Flies, by John S. Denker]] is very beneficial to get your airframe tuned well.		== Intro ==

			This page provides guidelines for tuning a new aircraft and additional practical tips. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID\|PID Controllers]] before you begin tuning your airframe. Use of the [[RTPlotter\|real time plotter]] may help to visualize and understand the behavior of the control loops. Review [http://paparazzi.enac.fr/w/images/Users_manual.pdf User Manual] as well. Also reading [http://www.av8n.com/how/ See How It Flies, by John S. Denker] is very beneficial to get your airframe tuned well.

			==Energy Control==

			If you came to this page and want to learn about how to perform your [[TuningEnergyControl Energy control tuning]], this is '''not''' the page to read, go to [[TuningEnergyControl tuning energy control loops]]

			==Quickstart==

	'''Here is the sub-minimal ultra-quick-start guide: note that point 1 and 3 should ALWAYS be performed every time you reflash your plane!!!'''		'''Here is the sub-minimal ultra-quick-start guide: note that point 1 and 3 should ALWAYS be performed every time you reflash your plane!!!'''

← Older revision		Revision as of 13:47, 24 September 2013
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	# Before take-off [[Tuning#Directions\|check]] (beware: do not skip a test as it is not because 2 are good that the third will also be good)		# Before take-off [[Tuning#Directions\|check]] (beware: do not skip a test as it is not because 2 are good that the third will also be good)
	## RC-left is aileron-left and up is up in MANUAL.		## RC-left is aileron-left and up is up in [[AutopilotModes\|MANUAL]].
	## RC-left is aileron-left and up is up in AUTO1.		## RC-left is aileron-left and up is up in [[AutopilotModes\|AUTO1]].
	## [[Tuning#Directions\|turning the plane-left is aileron-right]] and nose-up is elevator-down with RC in neutral in AUTO1. (to check the [[GCS#PFD\|Artificial horizon]] in the [[GCS\|GCS]]: use the words: right wing sees the ground to not mess up left and right if uncertain.)		## [[Tuning#Directions\|turning the plane-left is aileron-right]] and nose-up is elevator-down with RC in neutral in [[AutopilotModes\|AUTO1]]. (to check the [[GCS#PFD\|Artificial horizon]] in the [[GCS\|GCS]]: use the words: right wing sees the ground to not mess up left and right if uncertain.)
	# Fly manual		# Fly manual
	## [[Tuning#Neutrals\|trim your plane]]		## [[Tuning#Neutrals\|trim your plane]]
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	## When flying with IMU pay special attention here if after several left turns the plane still turns right too. Plot the IMU_ACC->ax,ay,az to see the average vibration in your plane. If the vibration level is lower than half of gravity (5m/s2) than usually you are OK. If it is much more, you should dampen your IMU more. (in foam, or mounted on your heavy battery, ...)		## When flying with IMU pay special attention here if after several left turns the plane still turns right too. Plot the IMU_ACC->ax,ay,az to see the average vibration in your plane. If the vibration level is lower than half of gravity (5m/s2) than usually you are OK. If it is much more, you should dampen your IMU more. (in foam, or mounted on your heavy battery, ...)
	# Only when AUTO1 works fine you can [[Tuning#Auto_1\|go to AUTO2]]		# Only when AUTO1 works fine you can [[Tuning#Auto_1\|go to AUTO2]]
	## check that your ~~Throttle~~ is not ~~Killed~~ (RED) in the groundstation		## check that your throttle is not killed (RED) in the groundstation
	## check that your cruise throttle is correct if you have a powerful motor		## check that your cruise throttle is correct if you have a powerful motor
	## if tuning the altitude loop seems difficult try the [[Tuning#Sample.2FSimple_Altitude_and_Throttle_Loop\|simple 3 gain auto_throttle_loop]]		## if tuning the altitude loop seems difficult try the [[Tuning#Sample.2FSimple_Altitude_and_Throttle_Loop\|simple 3 gain auto_throttle_loop]]


	== Sensors ==		== Sensors ==