Re: [Paparazzi-devel] Tuning the vertical loop for rotorcraft fw (Eduardo lavratti)

[Eduardo lavratti]

Thanks Loic ... i will try this values today.
I erased all my logs ! so i cannnot look at this values.

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Date: Fri, 11 Jan 2013 09:45:29 +0100
From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Tuning the vertical loop for rotorcraft fw (Eduardo lavratti)

Hi Eduardo,

The VERT_LOOP message is helpfull when tuning the vertical loop. You should have a look at z_sp (altitude setpoint) and z_ref (altitude reference = setpoint filtered by reference generator)  to check that the values are fine. You may also use some saturations in reference generator in order to smooth the reference, in GUIDANCE_V section of the airframe configuration file:

For example:

  <define name="REF_MIN_ZDD"  value="-3"/>  

  <define name="REF_MAX_ZDD"  value=" 3"/> 

  <define name="REF_MIN_ZD"   value="-1.5"/>

  <define name="REF_MAX_ZD"   value=" 1.5"/> 

Once you have checked that your reference is fine, (smooth, without discontinuities), that your altitude measurement is OK, then you cane tune the PID.

Regards

Loïc

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