Re: [Paparazzi-devel] What does the effect of feedforward(DD gain) in rotorcraft configuration

[Felix Ruess]

Hi,

the DD gain is a feedforward gain on the reference angular acceleration.

Meaning if you have a change in (reference) angular velocity (decreasing/increasing turn rate), then you can feed that to the motors.

So first you should set a roughly matching reference: basically a copter with faster turn rate has lower omega (natural frequency of the second order ref model).

Cheers, Felix

On Mon, Aug 18, 2014 at 5:01 AM, Eltonwu <address@hidden> wrote:

    Currently, I'm tuning the PID of the attitude loop. I know the meaning of
the pgain, igain, dgain but I have no idea of The DD gain.So I try to set it
to zero and set it to a very big value. I dont feel very much different
between the values.

   So what the effect of DD gain.and how to select a suitable value?

   Thanks in advance




--
View this message in context: http://lists.paparazziuav.org/What-does-the-effect-of-feedforward-DD-gain-in-rotorcraft-configuration-tp15998.html
Sent from the paparazzi-devel mailing list archive at Nabble.com.

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel