Auto-throttle firmware.

[daedalus]

I've had two flights today using the r99 development revision mostly to test the auto-throttle.
Everything was fine, generally speaking, just the throttle cuts off in automatic mode.
Is it too soon to try it?

[Tom]

Hmm no, how did you configure it?

I think the gluonconfig in the SVN is out of sync. Please try with the 0.6.0 version in the download section.

[daedalus]

I have now the v0.6.1 and there is something I don't understand.

In autopilot mode I made the motor work only when I've set the min/cruise/max to 50/0/0. When modifying the cruise or maximal settings the motor cuts off. Due to the way the airframe is configured when the throttle channel is normal on gluonpilot, on the transmitter must be reversed or vice versa. Is this the problem?

Also, do you have any hint for the throttle p-gain?

[Tom]

I personally use:
min: 20%
max: 100%
cruise: 80%

gain = 0.9 % / m

Is this better?

[daedalus]

Thank you Tom.
The values that worked for me are min/cruise/max 5/40/55 (overpowered glider) with the gain 0.9.

There also could be a problem with the auto-throttle. To make it work I had to put throttle settings on normal on both gluonpilot and transmitter. Because I'm using a Futaba transmitter this led to an non-intuitive opposite movement for the throttle lever (pull back to increase throttle). To have the normal movement I had to reverse the channel either on gluonpilot or the transmitter but then the auto-throttle is not working.

[Tom]

The normal workaround would be to reverse the throttle channel on your transmitter. Didn't that solve the problem?

[daedalus]

That's what I'm trying to say. After reversing the throttle channel to have the normal lever movement the auto-throttle is not working.

[Tom]

Could you take a look at the RC-input configuration tab-page? There you see the raw values Gluonpilot uses as input. When reversing the throttle in your transmitter, the values should be more or less the same (but your stick the other way around) as before. Do you see any weird behavior there?

For auto-throttle: 1000us should be idle, and 2000us full throttle (more or less). You can check this in the RC-input tab or in the new "basic configuration" window.

[daedalus]

Sorry, did not check on the RC-input configuration tab-page.
Reconfigured - not reversed on Gluonconfig/Configuration/Servos, reversed on the Futaba transmitter, 1000us idle / 2000us full throttle on RC-input configuration tab-page - and now is working as expected.