, . ?
:
1. - " " . 20 , , , . , .
2. NAV_ROLL I, NAV_ROLL D,Crosstrack Gain ( ); .
3. SERVO_ROLL_P. 45- fly-by-wire (FBW)? . Fly-By-Wire .
4. SERVO_ROLL_P , NAV_ROLL_P "" . - , - .
5. , , , "Crosstrack gain". , , . , crosstrack:
0, . (100 ), . - . . 0.
Crosstrack .
PID
PID , , " .
(P) , "" . 10 , 5 , 5: . ( - - P). ("I") . , "I" . ("D") ( ) .
|
|
, .
P, PI PID (, , , ) .
PID - - . , . SERVO_PITCH - . , , , ."I" , . , , "D" , . , "D" , . "D" , .
"Ground Station" ( )
GCS?
GCS ( , - ) , . . , .
, GCS , .