MultiWii Barometer Simulator (testing Velocity Position Controller)
Channel: Colin MacKenzie
Date: 2012-01-13

I am tired of the MultiWii baro not working. I got an idea to make a test application that simulates all the physics in the Z axis only to test a new altitude holding algorithm. Here are the results.

The new algorithm uses a Velocity/Position loop. The inner velocity control loop controls the copter's thrust to maintain a set velocity. The outer (altitude) position loop controls the velocity to travel to or maintain the altitude. The algorithm maintains smooth velocities while travelling to the desired altitude - with very little overshoot and maintains a stable altitude.

Gravity is also fed forward into the velocity loop. In other words, the velocity loop anticipates the effect of gravity.