[Autopilot] Flybar-less heads

[Tramm H. <hu...@sw...>]

Dennis B. D'Annunzio wrote:
> Trammell Hudson wrote:
> > Another Vario item that I'm curious about is their NOTAR.  I've
> > heard that the full-size NOTAR's have limited cross-wind yaw
> > authority and wonder if it translates to the models, too.
>
> I've only read about them.  I've also heard that the models have very 
> weak tail control.

Bummer.  The full-size one that I saw was also very loud if you were
downwind of its NOTAR tube.

> > [...] I did experiment with turning off the
> > flybar in the simulator.  The hover program crashes fairly quickly as
> > a result.  In theory, it should be easier to write a flight controller
> > for a flybar-less head, since there is one less influence on the
> > system.
>
> Hmm, good idea.  Do you just set the flybar params to zero?

As long as flybar::tau is not zero, it seems to work.  I'm not sure
what it means for the flybar -> main rotor gearing to be zero.
The flight controller can handle this condition as well as before.

I also tried not calling the RK4 integration on the rotor tip plane
path, but that caused rapid divergence.  I should have asked Aaron
about it last night...

Trammell
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