Re: [Paparazzi-devel] Tuning the vertical loop for rotorcraft fw (Eduard

i do some testes ...
REF_ZD and REF_ZDD are away 0 when using att_z
when i change to NAV the REF_ZD and ZDD changethe values.

From: address@hidden
To: address@hidden
Date: Fri, 11 Jan 2013 12:27:43 +0000
Subject: Re: [Paparazzi-devel] Tuning the vertical loop for rotorcraft fw (Eduardo lavratti)

Hello Loic, REF_ZD and REF_ZDD are aways ZERO(0). Its correct ?
Here are my last 2 LOGS.
The PPM channel 8 change from:
ch8 < - 4000 = NOMINAL_HOVER_THROTTLE = 0.50
-4000 < ch8 < 4000 = ADAPTIVE HOVER
ch8 > 4000= ADAPTIVE HOVER without phitheta angle feedforward

From: address@hidden
To: address@hidden
Date: Fri, 11 Jan 2013 10:56:41 +0000
Subject: Re: [Paparazzi-devel] Tuning the vertical loop for rotorcraft fw (Eduardo lavratti)

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

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:

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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From:	Eduardo lavratti
Subject:	Re: [Paparazzi-devel] Tuning the vertical loop for rotorcraft fw (Eduardo lavratti)
Date:	Fri, 11 Jan 2013 12:44:14 +0000