Quote:
Originally Posted by Saberbot
Wouldn't another option be to treat the feedback loop as the "rate controller" for the yaw axis? The rotation command from the joystick would be sent to the yaw controller. If it the command is zero then it will work as described in the attachment.
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What you've described
1 would work; but if you're trying to hold position, it's best to close the loop on position, not velocity.
1 ... http://www.chiefdelphi.com/media/papers/download/2796 ...... http://www.chiefdelphi.com/media/papers/2390