FlightGear Autopilot: Theory, Configuration, and Tuning

Curtis Olson
(curt@flightgear.org)

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• Introduction
• Control Theory 101
  • Proportional
  • Integral
  • Derivative
  • Combining P + I + D
  
  
• PID Algorithm Implementation
  • Mathematical Formula
  • Algorithm inputs
  • Algorithm output
  
  
• XML Autopilot Config File
  • Specifying the Autopilot Configuration
  • Configuration file overview
  • PID Controller Specification
  • Cascading Controllers
  
  
• Autopilot Tuning
  • Trial and Error Tuning
  • Ziegler-Nichols Method
  • Other Tuning Tips
  • Tweaking Parameters Inside of FlightGear
  
  
• About this document ...

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Curtis L. Olson 2004-02-04

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