The bit in the middle where it decides to make its control loop be pure P(roportional), presumably dropping the I and D parts, is interesting to me. Seems like a poor choice.

I try to fly about once a week, I’ve never really tried to self analyze what my inputs are for what I do. My hunch is that there’s quite a bit of I(ntegral) damping I do to avoid over correcting, but also quite a bit of D(erivative) adjustments I do, especially on approach, in order to “skate to the puck”. Density going to have to take it up with some flight buddies. OR maybe those with drone software control loop experience can weigh in?

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aetherspawn 3 days ago | parent [-]

Dumping the I part instead of just tuning it properly is kind of an insane thing to do … speaking as an actual controls engineer

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gbgarbeb 3 days ago | parent | next [-]

"Actual controls engineers" use PD loops (no I) all the time.

	▲	rcxdude 3 days ago \| parent [-]
		In some circumstances, yes (usually when the system itself acts as an integrator somehow). Aircraft controls do not strike me as a system where this is sensible (trimming an aircraft is basically an integral control process). (d'oh, should have read the specific context: in the case mentioned, it is where the system acts as an integrator (pitch -> altitude), and so pure P control is pretty reasonable)

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bustah 3 days ago | parent | prev [-]

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