Flight Controls
From GT RoboJackets
Contents |
ArduPilot
The DroidPilot is loosely based on the controller shipped with the ArduPilot. The Google Code repository of the ardupilot is here. DroidPilot is based on the ArduPilot 2.4, which provides PI (no D) controllers for pitch, roll, and throttle.
ArduPilot 2.5 has been recently released. DroidPilot will be modified to integrate the useful changes in the future.
DroidPilot
The control parameters for the PI controller can now be adjusted via a UI while the autopilot is running and via text messages.
SMS Parameter Adjustment
Protocol: tune,<control parameters>,<value>
The <value> parameter may be any real-valued number.
Control Parameters
roll_kp is the proportional gain for roll
roll_ki is the integrator gain for roll
pitch_kp is the proportional gain for pitch
pitch_ki is the integrator gain for pitch
Note: Currently no feedback SMS is sent from the phone to the sender.
