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Dec 31, 2008, 01:26 PM
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bang bang 4 U

The bang bang altitude feedback sets the climb rate to no less than 0.3m/s & up to 0.5m/s. If dZ goes below -1m/s, collective gets another +0.1 added. We haven't had any problems with it. It's worked better than the mikrocopter algorithm.

Bang bang feedback was the first algorithm that worked in 2007 with the Corona & it was forgotten because it didn't make sense, but it works.

Landings are faster. Got it descending to the starting altitude at -0.5m/s, then switching to -0.3m/s. The starting altitude is where U flipped the autopilot switch or 10m above where the automatic takeoff began. She magically knows when U want an automatic takeoff.

Got another spiral landing. Suspect it's a gyro bias error from turning. Now just giving up on biasing the yaw gyro since its bias is too sensitive to turns.

We're up to bang bang feedback, ignoring Z gyro bias, & ignoring Z accelerometer. Every Goog search has been thrown out.
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