[Paparazzi-devel] fixedwing control loops

[mtorres]

Hello,

I have been working with paparazzi for some time, with a fixedwing  
airframe and the "normal" control loops. I've been hesitating about  
trying the "new control" and also the "adaptive", but I missed a bit  
of documentation or at least the control loop graphs and a brief  
description. Due to the recent discussions about the total energy  
control loops, which I found very interesting, I think there is a need  
to document or at least to have a small guide on which control loops  
are best suited for.

It will be very nice to have a small guide, for example: "if you have  
a fixedwing airframe with airspeed sensor the total energy control is  
the best suited for you", or "if you want to use a catapult o some  
high acceleration launch then avoid to use the standard control  
loops", or maybe "if you use IR sensors for attitude the stay with the  
normal control loops". So I guess depending on your airframe type and  
sensors there will be an appropriated choice.

The old control loops are well documented, and the concept behind the  
total energy it's easy to understand. Regarding the "new" control  
loops, are they just another approach, but behave like the old ones?  
are they just better and we all should move to "new control"? I think  
reading the source here doesn't help enough, at least for me.
The same goes with the adaptive, which sounds like a very good idea  
but misses some documentation about how to use it.

To sum up, it will be very nice if people using the new and adaptive  
control loops tell us why they choose them instead of the old control  
and how they tune their airframes, like the recent posts about the  
total energy control. Then maybe we can write down a quick guide about  
picking a control loop and the basics about tuning it.


Best regards

Miguel Torres


__________________________________________________________________________________________________

Miquel Ángel Torres Gil
Instituto Tecnológico y de Energías Renovables, S.A. (ITER, S.A.)
Polígono Industrial de Granadilla, s/n 38600 - Granadilla de Abona 
Santa Cruz de Tenerife - España (Spain)
TEL: + 34 922-747-700; FAX: +34 922-747-701

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