|Subject:||Re: [Paparazzi-devel] Limiting Speed in Fixed Wing UAVs|
|Date:||Sun, 17 Jan 2021 21:47:00 +0100|
|User-agent:||Mozilla/5.0 (X11; Linux x86_64; rv:68.0) Gecko/20100101 Thunderbird/68.10.0|
The control of speed is significantly more complex on a fixed wing aircraft than on a rotorcraft where you can easily and safely control the ground speed from GPS.
First, you need to control airspeed and not ground speed to prevent stalling which means that you need an airspeed sensor with a fairly good calibration. Then the longitudinal control presents a coupling between pitch and throttle commands, which is a bit harder to tune.
Paparazzi has several control loops using airspeed when available and enabled, usually with the USE_AIRSPEED flag. It is the case for the legacy basic controller, as well as "adaptive" and "new" variations. The "energy" controller requires airspeed sensor to be used.
As far as I can tell, the paparazzi language has support for limiting the speed of rotorcrafts but not of fixed wing UAVs. Is this feature currently being developed? Are there significant roadblocks preventing it from being developed?
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