Re: [Paparazzi-devel] KFF parameters in stabilization_adaptive.c

[Leandro Chelini]

Thanks for the answer. This pushes me a little forward in understanding 
the jungle of C-Code.
If this project will get any fruits, paparazzi will hear from it.
Leandro

Am 17.12.10 22:11, schrieb Gautier Hattenberger:
> Hello,
>
> Le 15/12/2010 18:28, Leandro Chelini a écrit :
> > Hallo
> > I'm working on the ZHAW - UMARS-Project.
> >
> > I'm analyzing the code in stabilization_adaptive.c to transfer the 
> > "adaptive-Programming-Idea" for programming a adaptive airspeed control.
> > Stabilization_adaptive.c works with parameters like 
> > H_CTL_ROLL_KFFA..., ---> what means KFF?
> FF means feed-forward.
> > Can someone tell me for what the control parameters
> > H_CTL_ROLL_KFFA
> > H_CTL_ROLL_KFFD
> > H_CTL_PITCH_KFFA
> > H_CTL_PITCH_KFFD
> These feed-forwards gains for roll and pitch stabilization loops. When 
> using attitude reference trajectories, the angle commands are filtered 
> with a 2nd order. Angular speed and acceleration setpoints are 
> generated from this. A feed-forward command is computed from these 
> setpoints and the gains KFFA and KFFD.
> > stands for?
> >
> > Is there any documentation for stabilization_adaptive.c? - I don't 
> > found any...
> Their is no documentation yet...
> > A MATHLAB-Simulink Modell for visualize the code of 
> > stabilization_adaptive.c is under construction.
> Ba aware that this code only flew a few times on experimental aircraft.
> > Thx
> > Leandro
> Gautier
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