The violent maneuvers I was describing occur when the plane is a few kilometers away from the waypoint. Therefore, it should have little to do with the way that pid controller reacts to the jump in waypoints.
One explanation for the violent maneuvers that I thought of is this: as the distance between the plane and the waypoint decreases, the accuracy required in the course calculations increases. Since it takes time for the autopilot to respond, and takes even more time for the plane itself to respond to the commands of the autopilot, the plane will never align itself perfectly with the waypoint. Hence, the autopilot will keep trying to "catch" the waypoint until the very last moment, thus causing the violent maneuvers. One solutions to the above problem is to pop the waypoint when the plane is still some distance away, thereby preventing the autopilot from making all those course adjustments. I should have explained this more throughoutly. Sorry for the inconvience. Regards, Ampere On June 4, 2004 06:19 pm, 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. > > LeeE _______________________________________________ Flightgear-devel mailing list [EMAIL PROTECTED] http://mail.flightgear.org/mailman/listinfo/flightgear-devel