churl
(churl)
1
the 3.3 release note said:it can solve the problem"A number of users had problems with pitch control on auto-takeoff"
but it likely didn’t work on my plane with 3.3.
i found the “nav_pitch_cd” is set to 500 in the beginning of takeoff.
when the plane takes off in auto mode,the pitch begins to Oscillate.
but in FBWA mode the pitch is controlled well. i think it is not the PID’s problem.
can anybody help?
churl
(churl)
2
I found the script in attitude.cpp
the nav_pitch_cd must be the demand_pitch in the “bin” file.
but i can’t understand the specific script below.(sth about TECS)
float integ7_input = SEB_error * _integGain;
if (_pitch_dem > _PITCHmaxf)
{
integ7_input = min(integ7_input, _PITCHmaxf - _pitch_dem);
}
else if (_pitch_dem < _PITCHminf)
{
integ7_input = max(integ7_input, _PITCHminf - _pitch_dem);
}
_integ7_state = _integ7_state + integ7_input * _DT;