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Autopilot Autoland 2.0

New and very much improved Autopilot Auto land!

Unlike the old controller: v1.0 this controller steers the plane using a line instead of simple waypoints. It also takes into account something I wanted it to from the the beginning... wind. This new controller can land in wind, taking the aircraft in at just the right angle to go down the runway.

The new controller also set the altitude gradually, instead of in pulses, allowing for a much smoother decent onto the runway.




Tuning your own aircraft:

Settings


"Alt hold P term" no unit
The P term of an alt hold tuned to your aircraft.

"Alt hold I term" no unit
The I term of an alt hold tuned to your aircraft.

"Alt hold D term" no unit
The D term of an alt hold tuned to your aircraft.

"Cruise throttle" ~0-1(not sure)
The cruising throttle of your aircraft.

"Landing throttle" ~0-1(not sure)
The throttle right before you land, you aircraft should not be able to fly with this throttle, it should slowly fall (this could also be reverse thrust).

"Stopped throttle" ~0-1(not sure)
The throttle at which you aircraft produces no thrust.

"Brake dampening" meters
How many meters away from the end of runway do you want your brakes to start "braking", bigger numbers mean softer braking earlier, and smaller numbers mean harder braking later.

"throttle speed dampening" no unit
The speed the controller raises and lowers the throttle, THIS NUMBER IS INVERTED, smaller numbers mean faster change in throttle, bigger numbers mean slower changes in throttle.

"decent run" rise / run (yes, math)
This controls the decent angle the aircraft takes, the default is 10, which means the plane will go forwards ten meters for every one meter it goes down.

"Altitude ceiling" meters
This sets the highest altitude the plane will go to.

"Flare height" meters
This is really just a number added to the altitude that makes the plane think 0 is higher than it truly is.

"Pitch Turn Gain" no unit
This is an improvement over the last version were you could only adjust yaw
Adjusts how much pitch the aircraft uses in a turn.

"Roll Turn Gain" no unit
This is an improvement over the last version were you could only adjust yaw
Adjusts how much roll the aircraft uses in a turn.

"Yaw Turn Gain" no unit
Adjusts how much yaw the aircraft uses in a turn.

"Max turn input" no unit
This limits how much the controller will try to turn the plane. Keeping it less than 1 will make sure the pilot always has some control.

"Runway align gain" no unit
This controls the strength of the planes tendency to follow the runway path.

"Runway point gain" no unit
This controls the strength of the planes tendency to point at the runway.


Example plane:
https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2559746622


If you wish to upload a vehicle to the workshop with my micro-controller please ask me first and credit me in the description of your vehicle.