Re: [Paparazzi-devel] INDI gain sheduling and VTOL

[Ewoud Smeur]

Hi Chris,

Just to be clear - for the attitude control you can either use INDI or PID. If you choose for PID you can use the gain_scheduling module, for which you put the GAIN_SETS section in your airframe. You can define multiple gain sets between it should interpolate, and you can change the variable that it uses for this purpose and the scheduling points. The example that you show uses the transition_status, a variable that does not exist (any more). But in general, you can use a fixed point number, and define the amount of bitshifts that is uses with SCHEDULING_VARIABLE_FRAC.

Alternatively, I think you can also use the floating point PID controller with different gain scheduling code.

Otherwise, you can use INDI (I don't recommend indi_simple for this, because the saturation handling is not as good). https://wiki.paparazziuav.org/wiki/Working_with_INDI

Working with INDI - PaparazziUAV

Make sure that in your configuration (in paparazzi center) the settings for different controllers, that are not used, are removed. The variables in these settings are ...

wiki.paparazziuav.org

Regards,

Ewoud

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Van: Paparazzi-devel <paparazzi-devel-bounces+address@hidden> namens Chris <address@hidden>
Verzonden: vrijdag 23 maart 2018 11:29
Aan: Paparazzi UAV devel list
Onderwerp: [Paparazzi-devel] INDI gain sheduling and VTOL

 

I think i finally understood the inner workings of this method so i will
try and make a vtol wing.

One thing i don't understand is this transition_status variable.

<define name="SCHEDULING_VARIABLE" value="(radio.values[COMMAND_THRUST]+
transition_status"/>

Is it set by the system or i need to provide it along with its value my
self?

Chris



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