![]() ![]() The second is to use ArduPilot’s landing and takeoff detection algorithms to zero the I terms when on the ground, and allow it to operate normally after takeoff. So the integrator leak along with the leak minimum parameter keepĮnough of the integrator to make it effective in keeping the attitudes matchingīut not so powerful to cause the aircraft to roll over. To prevent the I term from completely disappearing at low speeds or hover, the parameters ATC_RAT_RLL_ILMI and ATC_RAT_PIT_ILMI, only lets it leak off so much. The first is by restricting by providing a “leak” mechanism (constantly reduced at a specified rate) when on the ground or hover(actually when moving with a GPS speed of less than 5m/s). The I term can build to its maximum value and could possibly tip over the vehicle. The ILMI can beĬonsidered to be a sort of “auto trim” for hover that will reduce theĭiscrepancy between desired and actual pitch and roll attitude when theĪ downside of the I term is that it can build if the vehicle is constrained in its movement, so as not to be able to respond and reduce any long term errors, as when still on the ground. ![]() This is the effect of having ILMI set to zero. You will notice a discrepancy between the actual and desired roll attitudeĪt that point. Helicopter came to a stop in hover and the pilot switched to Stabilize flight It should be within 1-2ĭegrees of desired in dynamic flight. More than 2 seconds (what we call “dynamic flight”). Helicopter track the desired attitude very closely at speed exceeding 5m/s for The effect of the I-gain and IMAX parameters, properly set, will make the Helicopter in high-speed autonomous flight with the ILMI parameters set to zero. It is recommended that this value is no larger than 0.1īelow is a graph of desired roll attitude vs actual roll attitude for a The maximum amount of integrator that you want to retain in a hover to help Same for the roll axis but typically 0.4 should be sufficient. Set IMAX for 0.1 above the maximum value. Pull the log and look at what the maximum I value is in To check this set the value to IMAX = 1, fly the aircraft at the Required to hold the aircraft attitude at high forward speeds. ![]() In the pitch axis this is set by the integrator error The IMAX value limits amount of integrator error that can be stored to counter largeĭisturbances in attitude. ![]()
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