Wiki: Turn Coordination Calculation Yaw controller

ist179681 · March 3, 2021, 2:02pm

Hi can anyone explain what is done in the Turn Coordination Calculation subblock seen in the wiki, roll and pitch controller have everything explained but this is missing in the Yaw controller

tridge · March 4, 2021, 4:07am

It’s just a simple yaw rate calculator for coordinated flight:

github.com

ardupilot/ardupilot/blob/master/libraries/APM_Control/AP_YawController.cpp#L105


      
          
          // @Param: _RATE_IMAX
          // @DisplayName: Yaw axis rate controller I gain maximum
          // @Description: Yaw axis rate controller I gain maximum.  Constrains the maximum that the I term will output
          // @Range: 0 1
          // @Increment: 0.01
          // @User: Standard
          
          // @Param: _RATE_D
          // @DisplayName: Yaw axis rate controller D gain
          // @Description: Yaw axis rate controller D gain.  Compensates for short-term change in desired yaw rate vs actual yaw rate
          // @Range: 0.001 0.03
          // @Increment: 0.001
          // @User: Standard
          
          // @Param: _RATE_FF
          // @DisplayName: Yaw axis rate controller feed forward
          // @Description: Yaw axis rate controller feed forward
          // @Range: 0 3.0
          // @Increment: 0.001
          // @User: Standard