Re: [Paparazzi-devel] New variable name?

[Gautier Hattenberger]

Hi Anton,

You can have a look at this MIT lecture for theory of this control loop 
: 
http://ocw.mit.edu/OcwWeb/Aeronautics-and-Astronautics/16-333Fall-2004/CourseHome/index.htm
(especially lecture 12 on lateral control).

One of the big advantage of setting the rate setpoint to 0 is to avoid 
pulse in the control signal when you perform an angle step.

Gautier

Pascal Brisset a écrit :
> 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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