Working on autopilot
I spent about two hours today working on the autopilot. I put the pitot equation in the airspeed calculations, so that it is no longer just a local linear approximation for airspeed. I also found that the rudder and throttle commands had been swapped. Then I increased the pitch and yaw rate gains by a factor of 3. I should do the same for the roll gain. The pitch and yaw rate corrections are in the right direction. I got rid of the time averaging for the angular rate sensors. I reduced the time averaging for the accelerometers and the IR sensors.
I met with Dr. Vogel for the second time this semester. I pretty much just filled him in on the status of the project.