Comment

Comment by Jason Beach on September 17, 2012 at 7:28am

@Lorenz - I think there are bigger issues with using HIL simulation for gain tuning such as imperfections in the physics / aerodynamics models employed by X-plane and imperfections in the model of your airplane in X-plane.  They are probably good enough for a starting point, but I think the only way to get good polished gains is from real flight.

To answer your question though, delays have a destabilizing effect, so if I had to guess, I would say any gains that work with the delays in place would work better (and be a little conservative) when those delays are removed.

Comment by Lorentz on September 17, 2012 at 5:02am

I don't know if this is the correct place to ask a aquestion regarding HIL simulation.

I was trying to understand the effects of delays on the tuning of PID parameters.

Has anybody been able to measure the delay between movements / disturbances of the aircraft in X-Plane and the availability of relevant data (attitude, sensors, ...) to the ArduPilot code ?

This includes X-Plane sending data to ArduPilotMegaPlanner, that elaborates them and sends to ArduPilotMega board via serial communication.

Since those delays are simply not there in the real flight situation, I suspect that the PID parameters resulting from HIL simulation tuning will be different from the ones for the real situation.

Sincerely, I'd be happy if anybody could confute this.

Regards

Comment by Jesper Rooth on September 12, 2012 at 2:05pm

OK. Tried that already since I always clear logs after each flight. But problem seems to go away when I downgrade to 2.50. Then all logs get in the right order and can be downloaded. Hmmm..

3D Robotics Comment by Chris Anderson on September 12, 2012 at 1:29pm

Jesper: No, datalogging is a different chip. To reset/erase that, do a logs/erase

Comment by Jesper Rooth on September 12, 2012 at 1:22pm

Would CLI setup/erase/reset also reset the datalogging memory? I have wierd logging now with logs have higher start numbers than stop.

3D Robotics Comment by Chris Anderson on September 12, 2012 at 12:31pm

velentin: probably some got corrupted in the EEPROM. Do a CLI setup/erase /reset and go through the config process again and you should be fine. 

Comment by valentin colon on September 12, 2012 at 12:20pm

hi there, I'm having problem with APM2, the response of the sensor is extremely low this is the second time that happens, I solved it re installing the codes I would like to find out what is causing this

Comment by Brandon J on July 25, 2012 at 7:25am

@Tomas:  The best way is to directly look at the code, attitude.pde and navigation.pde.  It is commented pretty well.  From the wiki just click on the source tab and browse...

 

Comment by Tomás Peyré on July 25, 2012 at 6:50am

Hi everybody, I'm really new to UAV and have plans to start using ArduPlane. I have been looking at the Wiki and Manual and could not find much about the stabilization algorithms in use on ArduPilot. Can anybody help? Thanks

Comment by Troy Fardell on July 15, 2012 at 8:38pm

Dragon lab Current sensor

Is it ok to use with APM2? I noted somewhere the Attopilot sensor needed some resistors removed and a jumper put on. Anyone using a Dragon labs CS? modifications??

Thanks

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