Piccolo system user guide - Unmanned Aircraft & Drones

Clo ud Cap
Technology
PO Box 1500, No. 8 Fourth St, Hood River, OR 97031, ph 541 387 2120, fax 541 387 2030
angle disturbance rejection.
Pitch Pitch angle Elevator Damps out pitch oscillations.
Yaw Yaw rate Rudder Damps out yaw oscillations.
Turn compensator
Commanded
turn rate,
Pitch rate
Elevator
Helps maintain the TAS command when
entering or exiting a turn.
Figure 19. Autopilot gains page
To see the current gains press the Request Gains button. When the avionics responds the
Gains in Synch field will turn green. To change the gains alter one of the fields and push the
Send Gains button. Adjustments to the gains should be done first on the simulator before finetuning
in flight
The gains page also gives a display of the current control surface positions, both the left and
right. The labels on the control surface display will update according to the type of mixing
selected in the surfaces page (i.e. elevons, ruddervator, etc.). To the right of the surface display
is the initial trim value. Whenever a loop is turned from off to on, its integrator gets initialized.
The turn rate, airspeed, altitude, and yaw damper loops get initialized to the value displayed in
the Initial trim display. The other loop integrators get initialized to 0. To request the current
trim setting push Request Trim. You can enter trim values and push the Send Trim button to
change them. You can also tell the avionics to use its current loop commands as the trim value
by pushing the Capture Trim button.
4.13 Payload page
The payload page gives the user the ability to control the I/O lines on the external connector.
Ordinarily the manipulation of these lines is done through third-party applications which can
provide the user with an application specific interface. However the operator interface provides
Piccolo User’s Guide Page 30