Re: [Paparazzi-devel] Gain values in airframe file.

[Felix Ruess]

Hi Helge,

if I remember correctly these parameters are only used if you have an
airspeed sensor installed.
If you have ROLL_ATTITUDE_GAIN defined you do not need to define
ROLL_PGAIN. I think this is the parameter for a slightly different
control loop (but should behave exactly the same if you don't have a
gyro).

Cheers, Felix

On Fri, Jul 30, 2010 at 11:27 PM, Helge Walle <address@hidden> wrote:
> Hi,
>
> After two flights in Auto1 with my Twinstar II, the plane is still intact
> and I am working on gain values. The plane corrects itself, but I am not
> sure if I have the right parameters in my airframe file. I have looked at
> several airframe files and read the wiki; it is apparent that I need to dig
> deeper into this.
>
> I do not have a gyro, only IR sensors for vertical/horizontal orientation.
>
> In my airframe file I have these lines:
> <!-- auto airspeed and altitude inner loop -->
> <define name="AUTO_AIRSPEED_SETPOINT" value="14." unit="m/s"/>
> <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
> <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
> <define name="AUTO_GROUNDSPEED_SETPOINT" value="5" unit="m/s"/>
> <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
> <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
>
> Several other airframe files do not have these. Are they important?
>
> ROLL_PGAIN is not defined in my airframe file. However ROLL_ATTITUDE_GAIN
> and ROLL_RATE_GAIN are defined with values. According to the wiki,
> ROLL_RATE_GAIN should be used in connection with a gyro.
>
> I would be grateful for any advice on choosing the right parameters for my
> airframe.
>
> Thanks,
> Helge.
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