Control loops

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Control loops

Mike
Hi all,
       recently,I learn something about paparazzi uav control loops at http://wiki.paparazziuav.org/wiki/Control_Loops; some problems I encountered as follow:
       1.“v_ctl_pitch_of_vz”,what does it mean?
       2."loiter()",what does it mean?
       3.what is the difference between "estimator_z_dot" and "estimator_z"?
Mike
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Re: Control loops

Loic Drumettaz

Pitch_of_vz is the feedforward term of the throttle-pitch vertical control loop.That  loop has for input=desired climb (climb or vertical speed vz), and for output= throttle and pitch.
The pitch_of_vz is how much pitch (theta) you want for a given vertical speed (vz).
Loiter is a setting that reduces airspeed.
"z_dot" vertical speed, "z" vertical position. "estimator" for kalman filter output.

Regards
Loic

Le 18 avr. 2014 05:08, "Mike" <[hidden email]> a écrit :
Hi all,
       recently,I learn something about paparazzi uav control loops at
http://wiki.paparazziuav.org/wiki/Control_Loops; some problems I encountered
as follow:
       1.“v_ctl_pitch_of_vz”,what does it mean?
       2."loiter()",what does it mean?
       3.what is the difference between "estimator_z_dot" and "estimator_z"?
Mike




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View this message in context: http://lists.paparazziuav.org/Control-loops-tp15128.html
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Re: Control loops

Reto Büttner
In reply to this post by Mike
Hi Mike
 
My understanding is:
 
v_ctl_pitch_of_vz: A preset pitch proportional to desired vertical speed. E.g. five degrees per m/s. If the control wants to climb with three m/s, a preset of 15 degree pitch is given. If it want to descend with five m/s, a preset of minus 25 degree is given. This method enhances control quality.
 
Loiter: Fly slowly. Adds positive elevator trim to reduce flight speed and throttle. Opposite of dash. See also: http://lists.paparazziuav.org/AUTO2-throttle-management-td4947.html
 
estimator_z_dot: Estimates the vertical speed. Dot stands for first derivative.
 
estimator_z: Estimates the vertical position.
 
Cheers
Reto
 


2014-04-18 5:08 GMT+02:00 Mike <[hidden email]>:
Hi all,
       recently,I learn something about paparazzi uav control loops at
http://wiki.paparazziuav.org/wiki/Control_Loops; some problems I encountered
as follow:
       1.“v_ctl_pitch_of_vz”,what does it mean?
       2."loiter()",what does it mean?
       3.what is the difference between "estimator_z_dot" and "estimator_z"?
Mike




--
View this message in context: http://lists.paparazziuav.org/Control-loops-tp15128.html
Sent from the paparazzi-devel mailing list archive at Nabble.com.

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[hidden email]
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Re: Control loops

Mike
In reply to this post by Loic Drumettaz
Hi Loic
      Thanks! I have got you,it help me a lot
Mike
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Re: Control loops

Mike
In reply to this post by Reto Büttner
Hi Reto,
     Thanks a lot, your answer is completed, it help me a lot!
Mike