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[Paparazzi-devel] prebank

From: alonso acuña
Subject: [Paparazzi-devel] prebank
Date: Fri, 25 Oct 2013 20:44:48 -0600

Hello. I have been reading the code in nav.c and it appears that the prebank is applied when the aircraft is close to the circumference, but this closeness is determined using the nominal airspeed defined in the airframe file and not the actual ground speed.  When the ground speed is different then the prebank is applied when it shouldn't and not applied when it should.  

For example if there is wind and the aircraft is going slower it would take more time to reach the circumference and at that speed it really isn't that close and the prebank should not be applied.  And in the other direction it will be flying faster and so the prebank should be applied at a greater distance but it isn't. 

This makes it very difficult to fly a good circle when there is wind. Is this a bug, a feature or a I am missing something?


Alonso Acuña

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