Posted by Jason Short on December 20, 2009 at 5:42pm
Ardupilot 2.5 has the same heading control as before with the addition of a simple controller to adjust the rate or turn for the rudder. To give you a better tool for setting gains and for understanding what happens where and why, here is a handy interactive version of the PID code.Mouse the mouse left or right to indicate which direction the plane should be turning. Up and down control the current roll of the plane.
wow....awesome tool. Took me a while to really figure it out, but it should be a pre-requisite to opening the *.h files. Much easier to visualize current settings and potential problems, as well as figuring out what you think are reasonable initial settings knowing your plane. Nice work.
This is more to demo what's there already. I did add an additional loop to play with how fast the rudder response is. I have a lot of problems with overactive rudders causing the plane to jerk around and start oscillating slightly. It's not fun to turn down the gains and get slower turns just because you have a large rudder.
Next up is the throttle control. Again same control loops, just trying to take out the mystery for some people..
Is this really an addition? I thought we already had separate (partial) PID loops for desired bank angle based on heading error, and desired rudder/aileron throw based on bank error in 2.4....Not a complaint, I just thought this functionality was already there.
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Next up is the throttle control. Again same control loops, just trying to take out the mystery for some people..
Of course the flash demo is way cool!