Re: [Paparazzi-devel] Rotorcraft

[Gautier Hattenberger]

We are usually flying in nav without noticeable issues. As Loic said, the quality of the heading measurement is really important for horizontal control.
If you think that the outputs have the PID loop has no effect, you can use the hover telemetry mode to see if the are correct (direction, magnitude,..).
Also, don't forget that the navigation has a maximum bank setpoint (20deg) much lower than the safety remote control. This can be changed by redefining MAX_BANK in the GUIDANCE_H section.

Gautier

Le 28/07/2012 10:54, Loic Drumettaz a écrit :

Hi,

I have the following settings for horizontal navigation on 2 different rotorcrafts: Kp=40, Kd=80, Ki=10. I'm not completly satisfied with this settings: i noticed significant overshoot when flying to a waypoint situated headwind. Anyone noticed the same?

For hovering and navigation, it is also important to check that the heading measurement is accurate. This can be done with a compass in different directions, minus the local magnetic declination.  For big rotorcrafts, It is necessary to check that the heading is still accurate when running motors.  

Eric what do you mean by "the nav PID has no effect"?

Regards

Loïc

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