Piccolo system user guide - Unmanned Aircraft & Drones
Piccolo system user guide - Unmanned Aircraft & Drones
Piccolo system user guide - Unmanned Aircraft & Drones
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Clo ud Cap<br />
Technology<br />
PO Box 1500, No. 8 Fourth St, Hood River, OR 97031, ph 541 387 2120, fax 541 387 2030<br />
The differential parameter in Figure 14 controls how the differential is applied. When<br />
differential is zero the up and down aileron motions are equal; when it is 1.0 the ailerons only<br />
move upwards; and when it is –1.0 the ailerons only move downwards.<br />
4.11.5 Aileron to rudder mixing<br />
In this mode the aileron output from the autopilot is summed with the rudder output to form a<br />
new rudder output. The aileron output is unchanged. This feature is useful for aircraft that have<br />
strong adverse yaw characteristics that must be countered; or for aircraft which have their<br />
primary roll control via the rudder.<br />
Yaw command<br />
= Yaw + (Roll*Mixing)<br />
Left rudder<br />
Mixing<br />
Roll command<br />
= Yaw + (Roll*Mixing)<br />
Right rudder<br />
Figure 15. Aileron to rudder mixing<br />
4.11.6 Flap to elevator mixing<br />
The flap to elevator mixing is used to compensate for the change in elevator trim as the flaps are<br />
moved. Most vehicles will use a positive amount of flap to elevator mixing(i.e. positive flap<br />
deflection causes positive elevator deflection).<br />
4.11.7 Flaperon mixing<br />
In this mode the ailerons are used to provide aileron and flap functions. This is done by biasing<br />
the aileron outputs with the flap output, according to Figure 16. Note that the flaperon value can<br />
be positive or negative. A flaperon of 100% will cause the ailerons to move down as far as the<br />
flaps move down. A flaperon of –100% will cause the ailerons to move up as far as the flaps<br />
move down.<br />
Flap command<br />
Flaperon<br />
X<br />
Left aileron<br />
Flap<br />
Right aileron<br />
= Left + Flap<br />
= Right + Flap<br />
Left flaperon<br />
Right flaperon<br />
Figure 16. Flaperon mixing<br />
4.11.8 Elevon mixing<br />
In this mode two elevator like surfaces are used to provide aileron and elevator functions. This is<br />
done by biasing the elevator outputs with the aileron output according to Figure 17.<br />
<strong>Piccolo</strong> User’s Guide Page 28