Gain Scheduling

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Feature that you'd like us to add or change you'd like us to make:
Since self tuning PID's would be difficult to implement I suggest having a gain 
scheduling ability.  Basically this would allow the ability to set gains based 
on airspeed for inner loops and ground speed for navigation.  I use MicroPilot 
autopilots at work and this feature proves useful for air frames that have a 
large speed range or for navigating in windy days, especially during downwind 
(high groundspeed) legs.

Original issue reported on code.google.com by cctaylor...@gmail.com on 23 Sep 2011 at 6:21

[GoogleCodeExporter]

The current code already has gain scheduling based on airspeed.

Initial attempts to do gain scheduling based on the theoretical schedule proved 
to not work as predicted, so I did make the gain scheduling more conservative.  
The most likely cause of this difficulty is that our airspeed measurement is 
not great over wide speed ranges.

For this reason the gain scheduling is not perfect over wide speed ranges.  
However, it is in place and does work.  It is not documented in the wiki, as 
there is no user interaction required.  It is just a feature of the code.

Original comment by dewei...@gmail.com on 25 Sep 2011 at 10:31

• Changed state: BehavesCorrectly

[GoogleCodeExporter]

Hi,

May I know where in the code can the gain scheduling be found? 

Thanks in advance!

Original comment by cheeguan...@gmail.com on 29 Sep 2011 at 5:01