Navigation Functionalities for an Autonomous UAV Helicopter

4.2. TRAJECTORY GENERATOR 45
by the path planner will always be smaller than u2. umax is calculated
using 4.15. Finally we can calculate vtarg2 as:
vtarg2 = umax
τ b x
(4.20)
where τ b x is the projection of the vector in 4.16 on the helicopter Xb
body axis.
Fig. 4.6 shows the three velocities u1, u3 and u4, depending on the
path curvature radius, calculated from equations in 4.14 using the
limitation rmax, φmax and Nzmax. The most limiting velocity is
u3, which means the maximum roll angle φmax is the most limiting
factor for the maximum velocity umax. The situation can change
if the takeoff weight is more than 80kg, in this case Nzmax could
become the limiting factor.
Figure 4.6: Velocity constraint due to the maximum yaw rate, roll angle
and load factor.
It is important to mention that the velocity umax is calculated using
equation 4.14 which is derived from a trimmed flight condition. As