[Top][All Lists]

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

Re: [Paparazzi-devel] Understanding the algorithms behind the Quadshot

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Understanding the algorithms behind the Quadshot
Date: Sun, 14 Feb 2016 23:29:49 +0100

The transitioning code heavily reuses all the normal rotorcraft code. The innerloop control is just normal rotorcraft with different gains depending on the transition. The mixing of ailerons is in the airframe file. For manual horizontal flight, the normal stabilization_rc read_attitude_setpoint_from_rc function has a coordinated turn option.
Note that AP_Forward is a mode for manual horizontal flight via the remote control: not for full automatic flight.

On Feb 13, 2016 21:19, "notoriou5" <address@hidden> wrote:
Hello again,

sorry for re-posting in my own thread again today, but I found something
which could help me move forward.

After following the AP_MODE_FORWARD (I am pretty sure now that this is the
transition) I came to the following function
(sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c), line 585ff:

static inline void transition_run(void)
  //Add 0.00625%
  transition_percentage += 1 << (INT32_PERCENTAGE_FRAC - 4);

  const int32_t max_offset = ANGLE_BFP_OF_REAL(TRANSITION_MAX_OFFSET);
  transition_theta_offset = INT_MULT_RSHIFT((transition_percentage <<
                            max_offset, INT32_ANGLE_FRAC);

It seems like this function is called if the AP_MODE_FORWARD is activated.
But this little function can not be enough for the whole case of transition.
Where is the rest of the code (giving engine control and such things), or am
I missing something?

Thanks for your help,


View this message in context:
Sent from the paparazzi-devel mailing list archive at

Paparazzi-devel mailing list

reply via email to

[Prev in Thread] Current Thread [Next in Thread]