Throttle goes to 0 in automatic, loiter and stabilize mode

[GoogleCodeExporter]

What steps will reproduce the problem?
1. Any change to another as the MANUAL mode will cut off throttle
2.
3.

What is the expected output? What do you see instead?
The motor should be running near ground.

When changing to loiter, stabilize or automatic mode, throttle is cut off. 
Motor cannot be started by manual commands from the TX. But rudder and elevater 
still remain manually steerable.

What version of the product are you using? On what operating system?
Beta version fom zip-File.

Please provide any additional information below.
I tested the modes in flight, same result as on the floor.

Might be that some constant as THROTTLE_OUT 0 is set.

Original issue reported on code.google.com by terence....@gmail.com on 13 Oct 2010 at 3:03

[GoogleCodeExporter]

Try running the code from the trunk, r1253 or later.  I had a fully successful 
physical test flight with a variant of r1253.

Original comment by bjpcalt...@gmail.com on 14 Oct 2010 at 5:11

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Loaded down r1257, had to copy APM_config.h into directory. Compiled it loaded 
it up. Made a reset.

Same issues: Throttle only works in manual mode, elevator/rudder in every mode.

Original comment by terence....@gmail.com on 14 Oct 2010 at 8:10

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Does the throttle work in software manual?

Original comment by bjpcalt...@gmail.com on 15 Oct 2010 at 7:23

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Please check out per bjp's suggestion.  If your throttle only works in 
"hardware" manual, but does not work in "software" manual or any other mode 
then 99% likely that you have blown the throttle channel in your mux.

Original comment by dewei...@gmail.com on 15 Oct 2010 at 7:55

• Changed state: CannotReproduce

[GoogleCodeExporter]

What is the difference between "hardware" and "software" manual? When I have 
the swich to "manual" mode, the throttle works. I think that is the "software" 
manual.

But in the radio test the throttle input is reflected, but not the channel 3 
(throttle) output. See issue 193.

Original comment by terence....@gmail.com on 15 Oct 2010 at 9:09

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Flight mode 6 overrides the APM and feeds the RC input to the RC output 
directly regardless of what mode is configured on the APM.  If you put MANUAL 
mode on any other flight mode, it will behave as software manual.  Switching 
into flight mode 6 is hardware manual.

Original comment by bjpcalt...@gmail.com on 15 Oct 2010 at 9:27

[GoogleCodeExporter]

Thanks, in that case it is probably hardware manual, as I think I have mode 6 
for manual. But I am not totally sure. On can assign the modes interactively in 
beta version, I will try to do so.

Original comment by terence....@gmail.com on 15 Oct 2010 at 10:08

[GoogleCodeExporter]

It is no hardware issue.

I exchanged the APM_config.h (copied the APM_config_xplane.h) and changed some 
values. Now the throttle works correctly. 

In stabilize mode the reactions are still very small when running the default 
gains for rudder and elevator. When I tilt the plane about 60 degrees the 
elevator can be seen to change, but the rudder is not.

I am still not sure if the giro works correctly. There are only minor changes 
when tilting the pilot.

Horizontal

Gyro | Accel15  6   3015    |   2010    2061    2454
15  6   3015    |   2009    2060    2453

Roll right

13  7   3032    |   2044    1701    2271

Roll left

15  7   3000    |   2052    2434    2199

Pitch forward

15  7   3017    |   2364    2038    2273 
Pitch backward

15  7   3016    |   1671    2053    2264 
Yaw left

15  7   3008    |   2012    2072    2453 

Yaw right

15  7   2994    |   2014    2059    2454 

Original comment by terence....@gmail.com on 16 Oct 2010 at 9:06

[GoogleCodeExporter]

Which values did you change in order to fix the throttle?  Could you post the 
contents of your new APM_Config.h so that other people can see how to fix this 
problem if they have it?  Let's address stabilization reactions in the 
corresponding Issue to keep information organized and clear to people who might 
want to refer to it later.

Original comment by bjpcalt...@gmail.com on 16 Oct 2010 at 11:12

[GoogleCodeExporter]

Changing of APM_config.h:

I took the APM_config_xplane.h which was in the SVN Repository and changed it 
to the following:

#define DEBUG_SUBSYSTEM     0

#define FLIGHT_MODE_CHANNEL 8
#define FLIGHT_MODE_1       AUTO
#define FLIGHT_MODE_2       RTL
#define FLIGHT_MODE_3       FLY_BY_WIRE_A
#define FLIGHT_MODE_4       FLY_BY_WIRE_B
#define FLIGHT_MODE_5       STABILIZE
#define FLIGHT_MODE_6       MANUAL

#define GCS_PROTOCOL        GCS_PROTOCOL_STANDARD
#define ENABLE_HIL          DISABLED
#define GCS_PORT            0
#define GPS_PROTOCOL        GPS_PROTOCOL_UBLOX
#define AIRSPEED_CRUISE     25

#define THROTTLE_FAILSAFE   ENABLED
#define AIRSPEED_SENSOR     DISABLED

The old APM_config.h from the Beta Version Zip was longer.

I do not know what was the error in the old APM_cofig.h. In any case the 
trottle works in stabilize mode and the rc-Test gives OUT results for the 
throttle.

Original comment by terence....@gmail.com on 17 Oct 2010 at 8:47