RE: [Paparazzi-devel] New variable name?

[address@hidden]

Hmm... it's been too long since I've read through that code.  I couldn't 
understand any of it to even see what you guys are talking about. :(

Can I suggest the attached theory and variable names so that we can all 
understand and tune the craft more easily?  (Throttle dependent gain scheduling 
and Ziegler method tuning omitted for clarity)



-- 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

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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