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Re: [Paparazzi-devel] Hover loop control gains

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Hover loop control gains
Date: Tue, 13 Mar 2012 01:40:11 +0100

Hi Loic,

did you see

So most airframes probably had the gains for NAV, which was unfortunately different than for AP_MODE_HOVER.
If you are using the master branch and AP_MODE_HOVER, multiply the p-gain by 2 and the i-gain by 4 compared to the gains in NAV.
I would recommend switching to the dev branch in your case...

Cheers, Felix

On Thu, Mar 8, 2012 at 12:21 PM, Loic Drumettaz <address@hidden> wrote:

I finally managed to fly in hover_z_hold mode. I'm quite suprised that i had to reduce the control gains for the horizontal control loops compared to other airframes examples. I have P and D around 50 where most of the configuration have 100 to 200...  I was thinking that from a quad to another, the behaviour would be quite similar: for example, 10° bank angle give the same acceleration, wathever the size of the quadrotor...So I supposed that the control gains for the horizontal loop would also be similar from a quite to another, whathever the size...
I'm using the master branch files. (I know that the control gains in the dev branch have been modified)

On the other hand, I have around 4 meters GPS position accuracy, which: do you get better accuracy?


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