> Basically what I had in mind was an adjustment of the target heading based on > the resulting devation values. I don't have the actual formula written down, > but it would involve doubling the devations and subtracting them from the > target heading and including an integral accumulated error adjustment similar > to the PI method that Curt used for altitude/gs.
IIRC, the F-16 uses P+I for pitch (altitude/attitude hold) but that's for both AP and non-AP flight - the pitch AP command merely enters the pitch channel summed with the pitch trim command. Roll (heading, attitude hold, etc.) seems to be purely proportional with rate limiting and a spaghetti-like control surface mixing. The problem I see with any autopilot is that it's going to need tweaking to avoid being all over the place - I don't see one AP design as being sufficient for the variety of aircraft we have or will have. You are talking about something that is highly configurable aren't you? Without code? FWIW I designed the JSBSim FCS components to also be able to handle being assembled into an autopilot. The question I have is, how would the desired heading, or roll attitude, or switch positions, be communicated to us, if we so desired it? Jon
smime.p7s
Description: application/pkcs7-signature
