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Re: [Paparazzi-devel] What does the effect of feedforward(DD gain) in ro

From: Felix Ruess
Subject: Re: [Paparazzi-devel] What does the effect of feedforward(DD gain) in rotorcraft configuration
Date: Wed, 20 Aug 2014 16:15:52 +0200


the DD gain is a feedforward gain on the reference angular acceleration.
Meaning if you have a change in (reference) angular velocity (decreasing/increasing turn rate), then you can feed that to the motors.
So first you should set a roughly matching reference: basically a copter with faster turn rate has lower omega (natural frequency of the second order ref model).

Cheers, Felix

On Mon, Aug 18, 2014 at 5:01 AM, Eltonwu <address@hidden> wrote:
    Currently, I'm tuning the PID of the attitude loop. I know the meaning of
the pgain, igain, dgain but I have no idea of The DD gain.So I try to set it
to zero and set it to a very big value. I dont feel very much different
between the values.

   So what the effect of DD gain.and how to select a suitable value?

   Thanks in advance

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