Re: [Paparazzi-devel] New variable name?

[Pascal Brisset]

Hi Anton,

you are right, this commands 0 rate. Sometimes called a P-D law. A lot 
more simpler to understand and tune than the nested loops and a lot more 
efficient.
All the our "recent" aircraft, including your Slayer and the Slicer have 
been successfully and easyly tuned with this law.
Gautier, you get a reference ?

--Pascal

address@hidden wrote:
> Pascal,
> I looked at this control law, and frankly I was scared.  This law 
> commands 0 rate, while I would call it simpler, it has to be inferior 
> to the old style of nested loops.  This should be stated somewhere.  I 
> also dont understand why it is highly recommended, as it appears to be 
> a hacked way to do control laws.
>  
> AJ
>
>     -------- Original Message --------
>     Subject: Re: [Paparazzi-devel] New variable name?
>     From: Pascal Brisset <address@hidden>
>     Date: Wed, May 07, 2008 9:59 am
>     To: address@hidden <mailto:address@hidden>
>
>     Hi,
>
>     it is not only a new name, it is a new, simpler if you use a gyro,
>     control loop.
>     It is highly recommended to move to this new code, just defining this
>     ROLL_ATTITUDE_GAIN macro (fw_h_ctl.c:228).
>     Yes, you can keep your 5000 absolute value and just change the sign.
>
>     --Pascal
>
>     Daniel Morgan wrote:
>     > Has the roll_pgain variable in the airframe file been changed to
>     > ROLL_ATTITUDE_GAIN" value="-7500"? Also if it has been changed as i
>     > suspect why has it now become a negative value... Also if i used a
>     > 5000 value for my roll_pgain would my ROLL_ATTITUDE_GAIN = -5000 ?
>     >
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