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Howto:Design an autopilot: Difference between revisions
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+ simple autothrottle. Torsten, is this correct?
m (small visual edits) |
(+ simple autothrottle. Torsten, is this correct?) |
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Spend some time optimizing these pitch and roll channels, they will be used by all other modes and '''have''' to be stable in any case! | Spend some time optimizing these pitch and roll channels, they will be used by all other modes and '''have''' to be stable in any case! | ||
==A simple auto throttle== | |||
<pid-controller> | |||
<name>Auto throttle</name> | |||
<debug>false</debug> | |||
<enable> | |||
<prop>/autopilot/locks/speed</prop> | |||
<value>speed-with-throttle</value> | |||
</enable> | |||
<input> | |||
<prop>/velocities/airspeed-kt</prop> | |||
</input> | |||
<reference> | |||
<prop>/autopilot/settings/target-speed-kt</prop> | |||
</reference> | |||
<output> | |||
<prop>/autopilot/internal/throttle-cmd</prop> | |||
</output> | |||
<config> | |||
<Kp>0.15</Kp> | |||
<Ti>20.0</Ti> | |||
<Td>0.00001</Td> | |||
<u_min>0.0</u_min> | |||
<u_max>1.0</u_max> | |||
</config> | |||
</pid-controller> | |||
And a filter, as our autopilot does not throttle up/down in split seconds. Depending on the number of engines of your aircraft, you might want to add more or delete some output properties. | |||
<filter> | |||
<name>SERVO-DRIVER:throttle</name> | |||
<debug>false</debug> | |||
<feedback-if-disabled>true</feedback-if-disabled> | |||
<enable> | |||
<prop>/autopilot/locks/speed</prop> | |||
<value>speed-with-throttle</value> | |||
</enable> | |||
<input>/autopilot/internal/throttle-cmd</input> | |||
<output> | |||
<prop>/controls/engines/engine[0]/throttle</prop> | |||
<prop>/controls/engines/engine[1]/throttle</prop> | |||
<prop>/controls/engines/engine[2]/throttle</prop> | |||
<prop>/controls/engines/engine[3]/throttle</prop> | |||
</output> | |||
<type>noise-spike</type> | |||
<max-rate-of-change>0.1</max-rate-of-change> | |||
</filter> | |||
[[Category:Aircraft enhancement|Design an autopilot]] | [[Category:Aircraft enhancement|Design an autopilot]] | ||
[[Category:Howto|Design an autopilot]] | [[Category:Howto|Design an autopilot]] | ||