TAC and Power - Speed relation

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Plüschi
Posts: 433
Joined: Thu Feb 21, 2013 6:09 am

TAC and Power - Speed relation

Post by Plüschi »

I have tested my Throttle Angle Correction algo with uses 1/cos(angle). TAC increases throttle when the copter is tilted to compensate for the loss of lift due to tilt. This:

Image

This works well as long as the copter doesent gain speed. But as soon as the copter gets fast it also climbs. Its because of this:

Image

The power required to hoover is way bigger that the power required to fly forwards. Aother pic explaining it in terms of drag:

Image

Since i dont know the copters speed i cant correct this. Any ideas ?

BTW if you want long flight times, dont hoover. Fly forward at your copters ideal speed.

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Plüschi
Posts: 433
Joined: Thu Feb 21, 2013 6:09 am

Re: TAC and Power - Speed relation

Post by Plüschi »

Suggested 1/cos(a) TAC code with variable limit and linear decrease like in that sketch is attached

Image

cfg.throttle_correction_value = 64; // is scaling factor, 64 = normal
cfg.throttle_correction_angle = 45; // is maximum angle for TAC in degree, after this correction linearly decreases
Attachments
TAC.zip
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