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:
<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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