Make 45deg launch detection limit a configurable setting

[skaman82]

Launching by throwing from the wingtip works fine but it is not suitable for my type of wing. If I throw the plane giving it a hard push from behind autolaunch does not work. Tested this like five times, every time it failed.

In 1.6.1 it worked without issues.

Diff and logfiles: `

version

INAV/SPRACINGF3EVO 1.7.0 May 3 2017 / 11:13:56 (104b66c)

resources

mixer

mixer FLYING_WING

servo

servo 3 1000 2000 1674 -100 -1 servo 4 1000 2000 1344 100 -1 servo 5 1000 2000 1500 -100 -1

servo mix

feature

feature -RX_PPM feature RX_SERIAL feature MOTOR_STOP feature GPS feature LED_STRIP feature DASHBOARD feature PWM_OUTPUT_ENABLE feature OSD

beeper

beeper -ON_USB

map

map TAER1234

serial

serial 1 2 115200 38400 0 115200 serial 2 64 115200 38400 0 115200

led

led 0 0,0::a:0 led 1 1,0::a:0 led 2 2,0::a:0 led 3 3,0::a:0 led 4 4,0::a:0 led 5 5,0::a:0

color

mode_color

aux

aux 0 0 1 1300 2100 aux 1 2 0 900 1300 aux 2 3 2 1300 1700 aux 3 9 2 1300 1700 aux 4 8 2 1700 2100 aux 5 10 0 1700 2100 aux 6 14 10 1300 2100 aux 7 27 4 1700 2100 aux 8 28 5 1700 2100 aux 9 11 2 1700 2100 aux 10 12 4 1300 2100 aux 11 15 5 1300 2100

adjrange

rxrange

master

set gyro_sync = ON set gyro_hardware_lpf = 188HZ set acc_hardware = MPU6500 set acczero_x = -2 set acczero_y = 34 set acczero_z = -111 set accgain_x = 4088 set accgain_y = 4086 set accgain_z = 4033 set mag_hardware = NONE set mag_declination = 230 set baro_hardware = BMP280 set rssi_channel = 16 set serialrx_provider = SBUS set motor_pwm_rate = 1000 set motor_pwm_protocol = ONESHOT125 set failsafe_procedure = RTH set align_board_roll = 50 set align_board_pitch = 10 set align_board_yaw = -900 set current_meter_scale = 293 set nav_extra_arming_safety = OFF set nav_rth_altitude = 3500 set nav_fw_bank_angle = 35 set nav_fw_pitch2thr = 15

profile

profile 1

set fw_p_pitch = 2 set fw_i_pitch = 16 set fw_ff_pitch = 70 set fw_p_roll = 4 set fw_i_roll = 8 set fw_ff_roll = 35 set fw_p_yaw = 0 set fw_i_yaw = 2 set fw_ff_yaw = 0 set fw_p_level = 11 set fw_i_level = 14 set max_angle_inclination_rll = 600 set max_angle_inclination_pit = 450 set roll_rate = 55 set pitch_rate = 55

`

LOG00004.TXT

[skaman82]

Another log with failed launchmode at the beginning LOG00008.TXT

[digitalentity]

You are throwing your plane to steep up. The moment you throw it the plane nose is raised up over 45 deg. This prevents launch mode from detecting a successful throw. You should be throwing your plane more or less level.

[brat002]

It is one more reason to enable launch behaviour immediately after enabling Launch mode, but not after throw. 1% people uses catapult. 99% people throw their planes by hand. I want to 100% know if plane is ready to climb after throw without any "smart detection", which is working from time to time.

2017-05-18 11:35 GMT+03:00 Konstantin Sharlaimov notifications@github.com:

You are throwing your plane to steep up. The moment you throw it the plane nose is raised up over 45 deg. This prevents launch mode from detecting a successful throw. You should be throwing your plane more or less level.

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/iNavFlight/inav/issues/1693#issuecomment-302338683, or mute the thread https://github.com/notifications/unsubscribe-auth/ADyecNH2ezEdSmHdIzqboTufSwvcnPBSks5r7ALogaJpZM4NcnAp .

[digitalentity]

@brat002 please stop bragging about launch mode not starting motors right after enabling and chopping your fingers off. Nobody is forcing you to use launch mode - you are free to launch your plane in ANGLE mode.

If plane is thrown with more than 45deg pitch or bank angle - launch is likely to fail anyway unless the plane's motor is really powerful.

[brat002]

It is not so easy to understand how much is angle - 32. or 45.8. Also gusts of wind may do some changes in throw angle. I am just telling you - current implementation of launch, what coming from APM world, is far from ideal and safe. P.S. I am not using launch mode more. Angle works great for launch.

2017-05-18 12:17 GMT+03:00 Konstantin Sharlaimov notifications@github.com:

@brat002 https://github.com/brat002 please stop bragging about launch mode not starting motors right after enabling and chopping your fingers off. Nobody is forcing you to use launch mode - you are free to launch your plane in ANGLE mode.

If plane is thrown with more than 45deg pitch or bank angle - launch is likely to fail anyway unless the plane's motor is really powerful.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/iNavFlight/inav/issues/1693#issuecomment-302348750, or mute the thread https://github.com/notifications/unsubscribe-auth/ADyecJ7EypT98FhcqZkvNyOracK2emB3ks5r7AyQgaJpZM4NcnAp .

[digitalentity]

INAV's implementation of launch mode is not coming from APM - it's entirely home-brew. If you launch your plane by throwing it nose up - launch mode is not your friend.

Launch mode puts certain limitations on how you should throw your plane to make launch safe and prevent the plane from hitting ground or people with spinning motors. 45 deg angle is a balance between likely success and likely failure of the procedure.

[raul-ortega]

@digitalentity I didn't know that throwing the wing with its nose up more than 45 degrees would abort the launch. Last attempt I did was unsuccessful, and I didn't understand why, and no data was recorded in the sd card. I thought that It could be caused by some problem with electronics or servos, but now after reading this topic, I suspect that the failure was caused by the way in which I launched the wing. Please, could you take a look to this short video (only 6 seconds). I can listen how the motor goes from maximum throttle to the level I configured with the stick previous to launch. Thanks so much!

https://www.youtube.com/watch?v=AltCE3M6uAM

[skaman82]

@raul-ortega at least I can hear your motor is starting. In my attempt that never happened. Looks like your throw was to light and the wing had not enough ground clearance to stabilize

[skaman82]

@digitalentity I think that the 45° limitation should go in the docs/wiki - otherwise you may get someone opening an issue on this again :) Testing later today

[raul-ortega]

It would be nice to have a CLI parameter to configure that angle.

[skaman82]

@digitalentity confirmed it working if throwing the plane level :)

[digitalentity]

@raul-ortega @skaman82 let's make this angle limit a CLI setting.

[digitalentity]

@skaman82 @raul-ortega done in #1730. Closing this one

[skaman82]

@digitalentity nice! THX