Add Gain Schedules

Question

Add Gain Schedules

chrishajduk84 opened this issue 11 years ago · 7 comments

Add ways to change the PID loop (Control Loop) gains dynamically based on changing conditions. For instance, if the airspeed is between x and y, change the roll gain to z.

Answer 1 · 2017-02-12T05:22:02.000Z

lmao the milestones

Answer 2 · 2017-02-12T05:33:54.000Z

Lol. It kept getting pushed off...

Answer 3 · 2017-02-13T20:47:24.000Z

Should this be something implemented in the ground station, rather than the PICpilot?

Answer 4 · 2017-02-13T20:52:26.000Z

Debatable. The counterpoint is that if you have it on the groundstation you need to send a new set of gains whenever the air speed changes significantly and this adds traffic to the datalink.

If it happens onboard, there is no datalink dependency.

Either way, by implementing this feature you end up making the system more complicated, which I'm not sure is the best idea.

Answer 5 · 2017-02-13T22:29:38.000Z

I don't think this is a feature we should implement at all tbh, unless there's a valid book or article that describes the advantages of gain schedules, with test results. So far from a Google search I hadn't seen anything. Ardupilot doesn't implement it, and it's a pretty stable system.

Answer 6 · 2017-02-20T19:33:49.000Z

So is this necessary, or can this issue (finally) be closed?

Answer 7 · 2017-02-20T20:03:40.000Z

I think it can be closed. It's outside the scope of what we usually do.