No throttle control in Stabilize mode

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What steps will reproduce the problem?
1. Tested with elevon mixing on, but may exist in other modes
2. When you switch into Stabilize mode, throttle goes to 50% and cannot be 
manually overridden. 
3.

What is the expected output? What do you see instead?
Throttle should be manually controlled in Stabilize and FBW mode.

Please use labels and text to provide additional information.

Original issue reported on code.google.com by analogue...@gmail.com on 5 Oct 2010 at 4:25

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I can't find a reason why. Can you run the CLI and go to setup, then "show". 
Post the results here. Thanks!

Original comment by jasonshort on 5 Oct 2010 at 7:36

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Does the throttle respond properly in FBW-A?

Original comment by dewei...@gmail.com on 5 Oct 2010 at 10:35

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I have a similar issue. Stabilize works really well. Throttle fully working - 
no problems. But FBW-A disables throttle control and applies it intermittently. 
Also aileron is applied by the APM in this mode.

Original comment by patrik.r...@gmail.com on 10 Oct 2010 at 5:08

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Patrick, Chris, 
I have not been able to duplicate this issue.  Can you supply more information 
please.  Post results from "show" in the setup, describe your setup, and give a 
better description of what you are seeing.  Logging CTUN and NTUN messages may 
be helpful.

Original comment by dewei...@gmail.com on 12 Oct 2010 at 2:38

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58" wingspan trainer with ailerons, elevator and rudder. Jeti 55SPIN speed 
controller, Robbe Roxxy outrunner 3548-12, Futaba FS617 receiver, 12Z radio, 
HS55 servos, Ublox5 GPS, XBee Pro 868, and airspeed sensor (the new blue one).

setup] show

Radio:
CH1: 1097 | 1938
CH2: 1037 | 1881
CH3: 1098 | 1945
CH4: 1178 | 2025
CH5: 1000 | 2000
CH6: 1000 | 2000
CH7: 1000 | 2000
CH8: 1000 | 2000

Gains:
P,I,D,iMax:0.800,0.000,0.000,5
P,I,D,iMax:0.800,0.000,0.000,5
P,I,D,iMax:0.600,0.000,0.000,5
P,I,D,iMax:0.700,0.010,0.020,5
P,I,D,iMax:0.650,0.000,0.000,5
P,I,D,iMax:0.650,0.000,0.000,5
P,I,D,iMax:0.500,0.000,0.000,20
P,I,D,iMax:0.320,0.040,0.000,20
kff:0.200,0.500,2.500
XTRACK_GAIN:1.0000000000
XTRACK_ENTRY_ANGLE: 3000
HEAD_MAX: 4500
PITCH_MAX: 1500
PITCH_MIN: -2500

User config:
airspeed_cruise: 15
airspeed_fbw_min: 6
airspeed_fbw_max: 30
airspeed_ratio: 26844
throttle_min: 0
throttle_max: 75
throttle_cruise: 45
throttle_failsafe_enabled: 0
throttle_failsafe_value: 975
flight_mode_channel: 7
auto_trim: 1
log_bitmask: 334

setup] 

test] radio
Hit Enter to exit.

IN: 1: 1518 2: 1461 3: 1102 4: 1601 5: 1500 6: 1499 7: 1499 8: 1816 OUT 1: 0    2: 
0   3: 0    4: 0
test] 
test] waypoints
Hold altitude of 0m
255 waypoints
Hit radius: 255
Loiter radius: 255

test] 

test] airspeed
Hit Enter to exit.

0m/s
0m/s
0m/s
0m/s
0m/s
0m/s
-17669m/s
-17669m/s
-17669m/s
-17669m/s
0m/s

Original comment by patrik.r...@gmail.com on 12 Oct 2010 at 6:23

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DOES THIS:

airspeed_fbw_min: 6

Affect both Fly_by_Wire A and B or just B? 

Original comment by patrik.r...@gmail.com on 12 Oct 2010 at 8:02

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It only affects FBW-B.

Patrick - you said you get no throttle control, or only intermittent throttle 
control in FBW-A, correct?  Can you correlate the instances when you have 
control with anything?

Also you state "aileron is applied by the APM in this mode."  It is normal 
behavior for the ailerons to be controlled by APM in FBW modes.  Perhaps you 
could restate the issue?

Original comment by dewei...@gmail.com on 13 Oct 2010 at 12:27

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When the plane is on the bench and I switch from manual to stabilize nothing 
happens. Of course this is great and the way it should be.

If I flip the switch once again (to pulse width 1165) which I had assigned in 
CLI to be FBW A. There is a two second delay and then the aileron "notch" and 
simultaneously the throttle goes to maximum. I have tried now with a cheap 40A 
Turnigy plush (pure junk), Kontronik Jive 60LV and Jeti SPIN55. And they all 
engage the full throttle after FBW A switched on.

I replaced the ESC with a servo. Servo wheel goes always to the 75% deflection.

I also tried FBW_B and LOITER. The reaction is exactly the same on all these 
modes. Throttle goes to 75%, No throttle control, little aileron and rudder is 
applied. Ailerons, elevator and rudder can be controlled but they always return 
to the APM own trim. Sure makes sense in LOITER but does not make any sense in 
FBW modes. Especially the engagement of throttle in FBW_A is bad.

Original comment by patrik.r...@gmail.com on 13 Oct 2010 at 6:16

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or only intermittent throttle control in FBW-A, correct? No the APM applies 
intermittently throttle. User has no control over throttle.

Original comment by patrik.r...@gmail.com on 13 Oct 2010 at 6:21

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I did a flight test momentarily with the stabilize and loiter modes. Stabilize 
works really well. Even in very strong wind gusts APM stabilizes the plane.

I tried this time with Loiter mode. The plane seems to loiter but once again it 
tries to land the plane. This landing symptom has occured also in FBW modes and 
RTL modes.

I have reset the EEPROM for a loiter radius of 30 and hold altitude of 60m. I'm 
wondering that maybe since my field is elev. 110 metres maybe it tries to reach 
altitude of 60 metres instead of 170 metres.

I'm puzzled... and since the stabilization works really well I think it can't 
be a hardware problem... 

Original comment by patrik.r...@gmail.com on 13 Oct 2010 at 10:26

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Ok! A little bit more of testing and grey hairs...

I go a solder the 4 included resistors for battery monitoring. I enable the 
battery monitoring in APM_Config. Boot up the system and turn on the telemetry. 
It reads the battery but the voltage is wrong. It indicates that the battery is 
at 14 Volts or so even it just came from charger reading more likely 16.5 Volts.

Then I flip thru the modes and suddenly the stabilize mode has now throttle. 
Throttle goes on which did not happen before. Also the telemetry says that I'm 
on loiter or RTL even I'm on stabilize. I checked with CLI atleast 10 times.

I turn the battery monitoring off in APM_Config and now everything is back to 
normal.

Also if this is the beta why does it say ArduPilotMega file 1.0.3 Alpha? I 
newer even downloaded that...

Original comment by patrik.r...@gmail.com on 14 Oct 2010 at 5:32

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I have uploaded the latest code (revision 1261) and now it seems much better. 
Too much wind again for testing... 

Stabilize - works as should

FBW_A - looking good in the bench!

Only I had to upload thru Windows Vista and Arduino. OSX version would compile 
ok but gave an error during upload.

Original comment by patrik.r...@gmail.com on 15 Oct 2010 at 12:26

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Original comment by dewei...@gmail.com on 20 Oct 2010 at 3:18

• Changed state: CannotReproduce