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Re: [Paparazzi-devel] Control loops


From: Reto Büttner
Subject: Re: [Paparazzi-devel] Control loops
Date: Sun, 20 Apr 2014 12:05:04 +0200

Hi Mike
 
My understanding is:
 
v_ctl_pitch_of_vz: A preset pitch proportional to desired vertical speed. E.g. five degrees per m/s. If the control wants to climb with three m/s, a preset of 15 degree pitch is given. If it want to descend with five m/s, a preset of minus 25 degree is given. This method enhances control quality.
 
Loiter: Fly slowly. Adds positive elevator trim to reduce flight speed and throttle. Opposite of dash. See also: http://lists.paparazziuav.org/AUTO2-throttle-management-td4947.html
 
estimator_z_dot: Estimates the vertical speed. Dot stands for first derivative.
 
estimator_z: Estimates the vertical position.
 
Cheers
Reto
 


2014-04-18 5:08 GMT+02:00 Mike <address@hidden>:
Hi all,
       recently,I learn something about paparazzi uav control loops at
http://wiki.paparazziuav.org/wiki/Control_Loops; some problems I encountered
as follow:
       1.“v_ctl_pitch_of_vz”,what does it mean?
       2."loiter()",what does it mean?
       3.what is the difference between "estimator_z_dot" and "estimator_z"?
Mike




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