Adaptive control: wing drop and engine failure


Video showing a Multiplex Twinstar II running the Paparazzi adaptive control loops. It drops 30% of the right wing with 50% of the aileron, turns off the right motor and keeps flying autonomously.

Views: 645

Comment by Ron Jacobs on November 26, 2010 at 1:30pm
Was that on purpose? Mebee I gotta get me one of these. Love that camera mount. Looks great. What camera was used?
Comment by Mikko Saarisalo on November 26, 2010 at 1:36pm
Impressive!!! Can you shed us a bit on how the adaptive aspects have been done?
Comment by Shannon Morrisey on November 26, 2010 at 2:36pm
Wow. I was impressed by the aerospace giant Rockwell Collins' video demo for flight damage tolerance, but this is truly remarkable work. Well done.
Comment by Jonas on November 26, 2010 at 4:23pm
Good work!
Comment by Mathew krawczun on November 26, 2010 at 7:42pm
this is great I would love to know more about it.

Moderator
Comment by Gary Mortimer on November 26, 2010 at 11:30pm
Crikey
Comment by Leon on November 27, 2010 at 1:39am
Congratulations!
Paparazzi becomes better than several pro autopilots!

T3
Comment by Mark Griffin on November 27, 2010 at 2:25am
Hi Martin, that's a very impressive demonstration of the robustness of Paparazzi. Great photography.

Moderator
Comment by Alex on November 27, 2010 at 2:33am
Thats realy cool both the adaptive control and some of the footage :)
Comment by Martin Mueller on November 27, 2010 at 5:27am
Everything you see is intentional :-) Maybe "simulated motor failure" would be more correct. The camera on the front boom is a FlyCamOne 3, the rudder/wing camera is a PMDV80 and the following aircraft has a GOPRO HD installed. The Twinstar/control loops do not only have to cope with the wing drop but with additional drag through all the camera installations. There is no additional software to the "normal" altitude loop for the motors. You can see the throttle slowly increase from 48% to 64% when the right motor is turned off. There is an additional control loop for estimating the needed roll offset to compensate the missing wing part and the unequal thrust. The code is in stabilization_adaptive.c. It has its limits for quick and sudden changes as you can see in the overshoot when the second motor is turned on again.

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