On Saturday 10 February 2007 01:08, gh.robin wrote: > Hello Roy, > I do not notice any differences regarding /autopilot/new-config dir > between first load values (after FG loaded) and after reload autopilot. > > i get two pi-simple-controllers and sixteen pid-controllers.
OK, you said that the heading hold in the dc3 was "crazy". The dc3 uses the generic autopilot, then all aircraft using the generic autopilot should experience the same crazieness in heading hold mode. Could you try activating the debug option of the two pid-controllers that are used in heading hold mode? Open data/Aircraft/Generic/generic-autopilot.xml and set the debug flag to true for the controllers named "Heading Bug Hold (DG based) Stage 1", and "Heading Bug Hold (DG based) Stage 2". When you activate the heading hold mode you should get debug messages from those two controllers on the console. This is what I get when I'm in a left turn chasing the heading bug in the dc3 (# My comments): Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0416667 input = -50.076 ref = 0 # We are -50.076 degrees from our desired heading. ep_n = 50.076 ep_n_1 = 50.1743 e_n = 50.076 ed_n = 50.076 Tf = 1e-06 edf_n = 50.076 delta_u_n = -0.110384 P:0.0982607 I:-0.20865 D:5.29441e-06 min saturation output = -20 # The controller has commanded a 20 degree left bank. Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0416667 input = -16.6732 ref = -20 # We are currently at 16.6732 degrees left bank. ep_n = -3.32684 ep_n_1 = -3.34097 e_n = -3.32684 ed_n = 16.6732 Tf = 1e-06 edf_n = 16.6732 delta_u_n = 2.75638e-05 P:0.00141368 I:-0.00138618 D:6.68812e-08 output = -0.00296141 # This is the commanded aileron, a tiny bit of left aileron makes sense. # 0.03 seconds later: Updating Heading Bug Hold (DG based) Stage 1 Ts 0.0333333 input = -49.9996 ref = 0 ep_n = 49.9996 ep_n_1 = 50.076 e_n = 49.9996 ed_n = 49.9996 Tf = 1e-06 edf_n = 49.9996 delta_u_n = -0.09026 P:0.0764119 I:-0.166665 D:-6.55459e-06 min saturation output = -20 Updating Heading Bug Hold (DG based) Stage 2 Ts 0.0333333 input = -16.6844 ref = -20 ep_n = -3.31557 ep_n_1 = -3.32684 e_n = -3.31557 ed_n = 16.6844 Tf = 1e-06 edf_n = 16.6844 delta_u_n = 2.10212e-05 P:0.0011263 I:-0.00110519 D:-8.62141e-08 output = -0.00294038 As you can see the inputs and outputs to/from these controllers look reasonable. Are you getting crazy inputs and outputs when you try the same? And are you getting sane inputs and outputs after a autopilot reload? If you are getting crazy inputs and outputs, you should run fgfs in a debugger like ddd and step through the FGPIDController::update() method in source/src/Autopilot/xmlauto.cxx to see what is going on. -- Roy Vegard Ovesen ------------------------------------------------------------------------- Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier. Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 _______________________________________________ Flightgear-devel mailing list Flightgear-devel@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/flightgear-devel
