In order to get it we decided that, basically, the best would be include a gyroscope in the controller design and use the angular rate data to control motor rpm's and this way fit it to our requirements.

Of course!  Man, that's an obvious way to measure lap time (well, lap rate), once you think about it.

You'll have a lot of noise any time you hit turbulence (and probably when you go around tight corners), so you'll want to have something like an inner RPM loop, with the outer rate loop resting a pretty light hand on the reins of an integral controller, but it should work.

That flight looks so weird, the way the plane almost stops at the beginnings of the up-lines.

Depending on the sensor they may not get much better feedback -- but there's a lot of different silicon gyros out there to choose from.

No, this time I had new regulation with accelerometer. I finished model only 10 days before championship and I did not have time to mount it from old model to new, and I also did not know which one I will really fly, so after all I used that other device, but it worked well :- )))

That gyro system I used last year in Gyula.

Hi Tim, Hi Howard,
I think you'll find that most of the successful (or even semi-successful) smart controllers have used the RPM governor for the fast inner loop, and the added sensor is used to create a change in the governor setpoint at rates that are within the governor's control bandwidth. These often have limited range on the RPM setpoint for sanity's sake. Yaw rate, direction of flight Jerk, steady-state governor error and 2-D mapping (in the plane of roll) of the gravity plus centripetal acceleration vector have all been tried to my knowledge.

with apologies to the non control-theory geeks.
                                                                Dean P.

Hi all.

We want to make clear that we don't want to do a RPM control for the moment, we are only dealing with angular rate control at the moment. In the near future, when the PID is tunned we will think if makes sense to sett other sensors (RPM?)

@Igor: we read the ESC signal to measure RPMs, we don't use a sensor for this task....

@Robert: Ee didn't have any CG problems, since we put all the electronics right in the CG.

Aaaaadios