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From: | Martin Mueller |
Subject: | Re: [Paparazzi-devel] Adaptive control |
Date: | Wed, 11 May 2011 19:39:27 +0200 |
User-agent: | Mozilla/5.0 (X11; U; Linux i686; en-US; rv:1.9.2.17) Gecko/20110424 Lightning/1.0b2 Thunderbird/3.1.10 |
Hi Jesus,
In the adaptive control, There were defined the situations (drop a wing, engine failure...) like an state of the flight situation and when you drop the wing what the control do it´s change to other control loop?, or when you drop the wing the control loop estimate the needed roll to compensate the unequal thrust and lifting?
the roll offset due to "whatever" is estimated and used for the control loop. The code is in
sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c and the value is h_ctl_roll_sum_err.
In the second case, if, for example, you drop a different piece of wing, the extra control loop for estimating the needed roll offset to compensate the missing wing part will work too?
During the development/test flights in Toulouse we flew at a regular RC field with other manually controlled RC aircrafts in the air. We did not notice the severity of a collision with a glass-fiber aircraft until we had landed. The left wings aileron (that can not be dropped) was almost cut off through that crash.
http://paparazzi.enac.fr/wiki_images/Wing_drop_broken.jpgAnd it still flew like nothing had happened. Seems it does not only work for well defined situations.
Martin
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