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

[Loic Drumettaz]

Well... no.

REF_ZD (vertical speed reference) and REF_ZDD (vertical acceleration reference) are equal to zero only if REF_Z (vertical position reference) is constant, or if the vertical guidance loop is not running.  This happens when the rotorcraft is not in flight or when it's flying in direct mode (thrust is set via RC).

Otherwise REF_ZD(D) should vary within the limits defined by REF_ZD(D)_MIN and REF_ZD(D)_MAX.

see:http://paparazzi.enac.fr/wiki/Control_Loops

How did you set NOMINAL_HOVER_THROTTLE ?

Loic