Re: [Paparazzi-devel] Control loops

[Reto Büttner]

Hi Mike

 

My understanding is:

 

v_ctl_pitch_of_vz: A preset pitch proportional to desired vertical speed. E.g. five degrees per m/s. If the control wants to climb with three m/s, a preset of 15 degree pitch is given. If it want to descend with five m/s, a preset of minus 25 degree is given. This method enhances control quality.

 

Loiter: Fly slowly. Adds positive elevator trim to reduce flight speed and throttle. Opposite of dash. See also: http://lists.paparazziuav.org/AUTO2-throttle-management-td4947.html

 

estimator_z_dot: Estimates the vertical speed. Dot stands for first derivative.

 

estimator_z: Estimates the vertical position.

 

Cheers

Reto

 

2014-04-18 5:08 GMT+02:00 Mike <address@hidden>:

Hi all,
       recently，I learn something about paparazzi uav control loops at
http://wiki.paparazziuav.org/wiki/Control_Loops; some problems I encountered
as follow:
       1.“v_ctl_pitch_of_vz”,what does it mean?
       2."loiter()",what does it mean?
       3.what is the difference between "estimator_z_dot" and "estimator_z"?
Mike




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