Re: [Paparazzi-devel] about those PID gains

[Gautier Hattenberger]

Hi,

Assuming Euler/integer operation:
Using functions in firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c, the radio control values are setting the stab_att_sp_euler.
Then the reference is computed using firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c, so we have stab_att_ref_euler.
This ref is used to compute the command stabilization_cmd in firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c

The same goes when using quaternion and/or float operation.

Gautier

PS: Tu peux envoyer un email quand tu es en France. Où vas-tu ?

Le 19/05/2013 10:14, buaa_paparazzi a écrit :

Rebonjour:

Firstly ,Thanks for your repose.

Just like you guys said, perhaps I can't calculate those PID gains, but I'm still interested in the mathematical models of the control loops, in fact,  I'm reading the code about the control loops of rotor-craft. And what I can't understand now is how to get setpoint of attitude_euler in the mode of "GUIDANCE_H_MODE_ATTITUDE". In my opinion, our RC's stick positions have already set the phi, theta, and psi, but in the code, we run a fonction named 'stabilization_attitude_read_rc' and then, we run 'stabilization_attitude_ref_update', and finally we get those setpoints of euler. It's really difficult for me, to understand all those things. So, do you have a instructions about how to understand those details of Theory of Operation? 

thanks again! 

PS: For ENAC,  est-ce que je peux visiter votre groupe quand je sera en France, parce que je passera un an en France pour un projet d'échange. Merci ~ BONNE JOURNEE.

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