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Re: [Paparazzi-devel] Adaptive control

From: Martin Mueller
Subject: Re: [Paparazzi-devel] Adaptive control
Date: Wed, 11 May 2011 19:39:27 +0200
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Hi Jesus,

In the adaptive control, There were defined the situations (drop a wing,
engine failure...) like an state of the flight situation and when you
drop the wing what the control do it´s change to other control loop?, or
when you drop the wing the control loop estimate the needed roll to
compensate the unequal thrust and lifting?

the roll offset due to "whatever" is estimated and used for the control loop. The code is in


and the value is h_ctl_roll_sum_err.

  In the second case, if, for example, you drop a different piece of
wing, the extra control loop for estimating the needed roll offset to
compensate the missing wing part  will work too?

During the development/test flights in Toulouse we flew at a regular RC field with other manually controlled RC aircrafts in the air. We did not notice the severity of a collision with a glass-fiber aircraft until we had landed. The left wings aileron (that can not be dropped) was almost cut off through that crash.

And it still flew like nothing had happened. Seems it does not only work for well defined situations.


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