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[Paparazzi-devel] Changes to AP_MODE_HOVER in dev branch

From: Felix Ruess
Subject: [Paparazzi-devel] Changes to AP_MODE_HOVER in dev branch
Date: Wed, 7 Dec 2011 21:12:11 +0100

Hi all,

regarding hover mode gains for rotorcrafts:
I just merged which
results in the same behaviour for AP_MODE_HOVER and NAV when holding

The horizontal control loops in hover and nav mode were slightly
different, so if you tune in hover, your flight in nav may not be as

Assuming for now that you don't use the horizontal reference
(GUIDANCE_H_USE_REF not defined and hence the ref is zero) and you are
within HOLD_DISTANCE, I would expect the same behavior from nav (with
"stay"on a waypoint) as with AP_MODE_HOVER_x

This should fix that, but will change the behavior in AP_MODE_HOVER
This means that if you tuned the p-gain and i-gain in AP_MODE_HOVER_x before,
you will have to divide the old p-gain by 2 and the old i-gain by 4.
If your airframe was tuned in HOVER you need to update the gains, if
they were tuned in NAV you don't need to update.

Will announce again when this is merged into master, testing and
possible bug reports are always welcome.

Cheers, Felix

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