Re: [Paparazzi-devel] KFF parameters in stabilization_adaptive.c

[Gautier Hattenberger]

Hello,

Le 15/12/2010 18:28, Leandro Chelini a écrit :
> Hallo
> I'm working on the ZHAW - UMARS-Project.
>
> I'm analyzing the code in stabilization_adaptive.c to transfer the 
> "adaptive-Programming-Idea" for programming a adaptive airspeed control.
> Stabilization_adaptive.c works with parameters like 
> H_CTL_ROLL_KFFA..., ---> what means KFF?
FF means feed-forward.
> Can someone tell me for what the control parameters
> H_CTL_ROLL_KFFA
> H_CTL_ROLL_KFFD
> H_CTL_PITCH_KFFA
> H_CTL_PITCH_KFFD
These feed-forwards gains for roll and pitch stabilization loops. When 
using attitude reference trajectories, the angle commands are filtered 
with a 2nd order. Angular speed and acceleration setpoints are generated 
from this. A feed-forward command is computed from these setpoints and 
the gains KFFA and KFFD.
> stands for?
>
> Is there any documentation for stabilization_adaptive.c? - I don't 
> found any...
Their is no documentation yet...
> A MATHLAB-Simulink Modell for visualize the code of 
> stabilization_adaptive.c is under construction.
Ba aware that this code only flew a few times on experimental aircraft.
> Thx
> Leandro
Gautier
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