Autopilot Installation Manual
B. Parameters For Known Airplanes
B
Parameters For Known Airplanes
Tables in this section list the tuning parameters for autopilots we have in-
stalled in different airplanes. If your installation is identical, then these values
should give you a very reasonable autopilot behavior.
However, when the hardware installation is a bit different (usually, it is) or
if different servo arm was used or a different hole in the servo arm, etc, then
these values may not be completely suitable and re-tuning is necessary.
Some loops given below are using special values. RFF means Roll Feed For-
ward, VS is Vertical Speed, RRG means Roll Rate Gain.
B.1
Ekolot Topaz
Table 1:
Topaz configuration parameters
Max arm mv
40
◦
Max pitch rate
10
◦
/s
Pitch target
12
◦
Max roll rate
3
◦
/s
Roll target
20
◦
Max VS rate
1.5m/s
2
VS target
3m/s
Turn comp
0.0
-
-
Roll rate gain
0.9??
Table 2:
Topaz PID values
Parameter
Pitch
VS
Roll
Heading
P-term
1.0
0.018
0.8
0.75
I-term
14.0
19.0
10
28
D-term
0.16
0.16
0.02
0.3
B.2
Pipistrel Sinus
48
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Kanardia
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