I've slapped together a short document on controller tuning.
[ snip ]
Thanks Roy!
For everyone: I've integrated this into a larger document which attempts to explain the basic ideas behind control theory and then describes the specific PID algorithm we have implimented for FlightGear. This information isn't strictly necessary for building aircraft specific autopilot configurations, but it's such cool stuff it's worth mentioning. :-)
The last two sections of the document describe the autopilot configuration file format and provides some specific tips for tuning the PID modules to work well for your specific aircraft.
There is a generic/example autopilot configuration which all aircraft will inherit by default. So, aircraft designers don't necessarily need to create something from scratch. 99% of the time you should be able to copy an existing configuration from a similar aircraft and mostly be 99% done before you've even started. But we need to boot strap ourselves and get a few well working config files for the various classes of aircraft before my previous statement is 99% true. :-)
http://www.flightgear.org/Docs/XMLAutopilot/
This document is a first stab. I'm sure it's full of mistakes and possible misunderstandings or oversites. Hopefully there aren't too many outright falsehoods. Feel free to submit feedback and corrections. Original is in latex format. I already know I need to work on the html formating of the description of the algorithm variables. :-)
Regards,
Curt. -- Curtis Olson Intelligent Vehicles Lab FlightGear Project Twin Cities [EMAIL PROTECTED] [EMAIL PROTECTED] Minnesota http://www.menet.umn.edu/~curt http://www.flightgear.org
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