On Friday 04 June 2004 23:30, David Megginson wrote:
> Lee Elliott wrote:
> > If I understand the problem correctly, changing the distance at which the
> > turn is initiated won't make any difference - it's the way that the pid
> > controller reacts to the jump in input as the waypoint is popped that's
> > causing the abrupt change.
> >
> > For example, if there are two waypoints, directly north and south of each
> > other, when one waypoint is popped the pid controller is presented with
> > an input change of 180 deg, regardless of how far away from the waypoint
> > it is.
> The 180-degree turn is a special problem no matter how you look at it --
> the key is to make sure that the autopilot will not overbank the plane.
> Otherwise, though, turn distance does matter -- if you switch to the next
> waypoint at the right moment, the plane will turn smoothly to its new track
> without overshooting the waypoint and possibly entering unprotected
> airspace.
> All the best,
> David

Ah - I don't think I understood the problem properly - I'll shut up.


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