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Re: [Paparazzi-devel] ENERGY control loop - tests

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] ENERGY control loop - tests
Date: Fri, 26 Oct 2012 10:16:21 +0200


The defines you put here are only referred to by the versatile_airspeed.xml flightplan so far: [

In any case in the energy-control settings tab, the current airspeed setting is shown. So if you flightplan does not overrule it you can also set it by hand there. What was your ACTIVE commanded airspeed?

At present, the energy-control file still has too many gains, allowing you to also configure the controller as non-airspeed, throttle-from-airspeed, pitch-from-airspeed, and finally the last 4 gains: energy-control. If any of the integrators are non-zero, the plane will compensate UNTIL the goal is reached, (whatever that means so be careful here).

Please note there are also outerloop gains: alt_pgain (e.g. 0.1 means 10 meters low = 1m/s climb) and speed_pgain (e.g. 0.3 means 1m/s too slow = 0.3g = 3m/s2 forward acceleration). If this gain is zero, the airspeed will indeed not be controlled.

Also note that energy-control expects an IMU.


PS: please understand this is still in the experimental phase: so your feedback/results are very welcome.

On Fri, Oct 26, 2012 at 9:51 AM, Eduardo lavratti <address@hidden> wrote:
Today i made my first test with energy control loop.
my plane fly verywell using control new and airspeed_ets.

The energy loop work but not maintain the minimun aispeeed necessary to stable fly.
I set the NOMINAL_AIRSPEED to 25m/s  but the plane not fly more than 18m/s in cruise.
Based on menthor airframe i put this lines on my airframe.

  <section name="MISC">
    <define name="SENSOR_SYNC_SEND"/>

    <define name="CLIMB_AIRSPEED" value="28." unit="m/s"/>
    <define name="NOMINAL_AIRSPEED" value="25." unit="m/s"/>
    <define name="GLIDE_AIRSPEED" value="14." unit="m/s"/>
    <define name="RACE_AIRSPEED" value="30." unit="m/s"/>

<section firmware>
    <subsystem name="control" type="energy"/>

i made something wrong ?

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