I am currently using Ardupilot as part of my investigation into UAVs for my degree course.
My aim is to add some additional sensors to aid in landing.
It's apparent you use a PID controllers from your very well commented code.
My question is this: any chance I could get my hands on the control design and plant (E*) transfer functions if you have them handy? It would help me a great deal.
Thanks from your newest UAV pilot,
Nick
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The closest answer to your question would be to look at the Easystar header file for 2.5.04 and look at the pitch servo gains. You will need to go through the code carefully to track units.
However, although I wholeheartedly value your input, it's not a solution I am after; rather the PID control design, closed loop transfer functions and plant (Easystar) transfer function (if available! - and I do hope so - I mean if not how did Chris et al arrive at the values listed in the easystar_25.h file?) so that I may design my own landing control system based on these known characteristics.
If you discovered the values tough good old trial and error then any estimate of system response would be beneficial - pitch most importantly. I could try obtaining these values through a flight sim recording but suspect the results would be ropey at best.
Many thanks.