Re: [Paparazzi-devel] Adaptive control

[Martin Mueller]

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.jpg

And it still flew like nothing had happened. Seems it does not only work 
for well defined situations.

Martin