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Re: [Paparazzi-devel] Suggestions: Auto-tuning of gains and upload via

From: Florin Mingireanu
Subject: Re: [Paparazzi-devel] Suggestions: Auto-tuning of gains and upload via modems
Date: Sat, 19 Jun 2010 11:20:58 +0300

Hi Maik,

As far as I know, tuning P and I-gains is like:

increase P value until you detect instability (oscillation as you said) and then decrease P to half and start to increase I until sufficient stability is obtained.

If, additionally, you have a D term (d-gain) then you apply recursively this algorithm for subsequent I and D.

So tuning gains for a new aircraft is more like a cascaded algorithm.


On Sat, Jun 19, 2010 at 10:12 AM, Maik Höpfel <address@hidden> wrote:
Hello dear community,

I recently added two features I would like to see to the Software
Wishlist in the Wiki, but did not get any feedback. So I'd like to
present them on the list as well:

1) Auto-tuning of gains: as far as I see it, the rules for setting the
P-gains on a new aircraft are pretty easy: "turn it up till it
oscillates, turn down a little". Now given sufficient height and a bit
of trust in the airframe, this should easily be doable by an algorithm
instead of the crew on the ground, shouldn't it? Oscillation can be
detected via the IR sensors/IMU... I imagine it like a special flight
plan block that then sets the correct gains.

2) Flashing via modems: Couldn't the boot loader wait for a special
sequence from the modems before starting up the Paparazzi code? And
then the GCS just sends that special message and the firmware that is
to be flashed? Should be error-checked, of course. But it's possible,

I'm really looking forward to your thoughts! I think both things would
make Paparazzi even easier to use for beginners.


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Florin Mingireanu
Romanian Space Agency
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