On Fri, 09 Jan 2004 14:52:28 +0100 Roy Vegard Ovesen <[EMAIL PROTECTED]> wrote:
The solution to this is to stop the intergation when the actuator goes into saturation.
Aha! Good explanation. Yes, I think this should not be too hard to fix, but I don't have time to play with that myself at this time.
I've found more problems caused by the integrator: When our jsbsim autopilot is deactivated (ap/wingslevel_hold = false) the integrator is still integrating the difference between actual roll angle and desired roll angle (zero). So if the pilot makes a bank to one direction, and then brings the wings level, the integrator has been winding up during the bank. If the pilot then activates the autopilot the contribution from the integrator will be much more than it should be.
If we had the ability to reset the integrator to an arbitrary value, we could reset it to zero whenever the autopilot was deactive. To fix the windup when it was active, we could reset it to the walue it had when saturation occured.
I think this should be implemented in the jsbsim source code, not in the fdm_config xml file.
-- Roy Vegard Ovesen
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