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Re: [Paparazzi-devel] Zeppelin

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] Zeppelin
Date: Fri, 28 Sep 2012 10:19:11 +0200

Standard fixedwing control loops will work for the zepplin, just do not use I-gains on attitude.

-the outerloops requests a commanded roll angle depending on the trajectory.
-the blimp obviously will not roll as it can't
-the innerloop will deflect the actuator (rudder) until the desired roll angle is achieved: since the blimp will not roll it will deflect the rudder as long as the navigation commands to turn.

to minimize the effect of real blimp roll (e.g. if the blimp turns out to roll-oscillate during a straight line) you can use a much higher max-bank, higher nav-gains and lower attitude-roll gains. if still not enough, edit the control loop code and set the measured phi to zero so the innerloop just passes outerloop commands to the actuator but that is probably not needed.


On Tue, Sep 25, 2012 at 9:02 AM, Cédric Marzer (privé) <address@hidden> wrote:
Hi all,
I have been contacted by a friend who would like to put an autopilot into
his 9m long RC "Zeppelin".
I have found a post dating from 2010 from someone trying the same thing but
I think none answered his email.
Has anyone tried something like that ? The Zepplin flies without rolling
that makes it quite different from a fixedplane...

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