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Re: [Paparazzi-devel] Add advanced control algorithm to paparazzi

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Add advanced control algorithm to paparazzi
Date: Sat, 7 Mar 2015 13:36:34 +0100

Hi Mike,

unfortunately we currently don't have a step-by-step tutorial on how to write/integrate a new controller.
Until the autopilot state machine generation is ready (which will make it easier to integrate your own custom controllers), it still shouldn't be too hard to integrate one now.

E.g. if you only want to write a new horizontal guidance loop for rotorcrafts, you can easily integrate it as a "guidance module": and re-use the underlying attitude controller...

Or you implement the whole guidance and stabilization loops and directly output "stabilization_cmd"s that are passed on to the actuators.
See for an example.

Hope that helps.

Cheers, Felix

On Sat, Mar 7, 2015 at 3:34 AM, Eduardo lavratti <address@hidden> wrote:
Hello Mike,
Have you any ADRC code example ?

> Date: Thu, 5 Mar 2015 01:55:41 -0700
> From: address@hidden
> To: address@hidden
> Subject: [Paparazzi-devel] Add advanced control algorithm to paparazzi

> Hi,all
> I am a student major in Control engineering. I have a Krooszd board for
> my quadrotor and PID parameters are also debugged. Now I am studying a
> advanced control method—Active Disturbance Rejection Control(ADRC). I think
> this method is better than PID control and I wanna write some codes into
> quadrotor of paparazzi to replace PID control. And some tests will be try!
> However, To be honest, I am not good at Computer programming. So, base on
> this situation, I want to ask the general steps to replace the control
> method of paparazzi, such as first write a code, second modify some
> makefiles(how to modify?)... I really wish some people will help me.
> As we all known, the fixwing of paparazzi have increased energy control
> and adaptive control except PID control. And I believe there are a lot of
> people research new control algorithm based on paparazzi uav project.
> Beacause paparazzi uav project is a great scientific research platform! I
> wish this forum will have a special plate for us to communicate our new
> ideas or technology!
> Thanks
> Mike
> --
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