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Autopilot Pitch Attitude

A micro-controller, designed to be used either with my autopilot system, or with one of the three autopilot altitude/climb functions included within that system. This controller comes with an active pitch stabilizer which can be enabled or disabled in the property window of the micro-controller. This stabilizer will attempt to keep the aircraft level even when the device is disabled NOTE: this will not control the roll of the aircraft, only the pitch.

- To place this device in your aircraft, use the Selection Grid tool in the Stormworks vehicle editor to load this device into your vehicle. You can use the arrows to drag the device around and place it anywhere on your vehicle.
- You can move and rotate any part of this device in any way you like. Placement and orientation is not important for normal operation.
- The included keypad labeled "In Flight Tuner" can safely be removed after the PID is properly tuned for your aircraft.
- To set this controller up and tune it for the first time, you will also need to place a keypad for the desired pitch attitude, and a toggle button to enable the controller.

Input:

• Pitch Angle - Connect this node to the output of the Pitch Angle Sensor.
  
• Pitch Attitude - Connect this node to the requested pitch angle node from either one of the three autopilot altitude/climb functions or the desired pitch attitude node on the Autopilot Controller. If you are tuning this controller, connect this node to a keypad.
  
• Pitch Axis - Connect this node directly to the axis you are using to control the pitch of your aircraft, normally one of the control chair axis's.
  
• Set Pitch - Connect this to either a toggle button, or the pitch attitude on/off node on the Autopilot Controller.

Output:

• Elevators - If sending a positive value to the elevators causes the aircraft to pitch down, connect this node directly to the elevators. If sending a positive value to the elevators causes the aircraft to pitch up, connect this node to the rudder through a numerical inverter.

Normal operation of this controller would be done entirely automatically, but you will need to manually turn on the controller and set the pitch attitude for tuning. Enter the desired pitch attitude in degrees into your keypad and turn on the controller using your toggle button. The controller will manipulate the elevators in order to reach the selected pitch attitude. Be careful when selecting a high value for the pitch attitude, because if your aircraft doesn't have enough power to climb at that pitch attitude, your aircraft will stall.

This device uses a PID controller to control the aircraft pitch, which means it must be tuned for each aircraft it is installed on. Tuning has been made easy by the use of a simple coefficient for each of the PID values.

1. Place a dial and connect it to the output of the Pitch Angle Sensor
   
2. Use the Select tool in the Stormworks vehicle editor to select the heading micro-controller.
   
3. In the properties window, turn the option "Enable In-Flight Tuning" on.
   
4. Spawn your aircraft and enter a value of 1 in the tuner keypad to start.
   
5. Once you are flying, enter a value of 0 into your pitch attitude keypad, and turn on the controller while monitoring the pitch angle dial.
   
6. If the aircraft reacts violently, reduce the tuning value until the value on the pitch angle dial is stable at 0 degrees.
   
7. Enter a positive or negative value into your pitch attitude keypad, and continue monitoring the pitch angle dial. Be careful not to enter too high of a value, or your aircraft may stall.
   
8. If the aircraft responds too slowly, and takes a long time to reach the entered pitch attitude, gradually increase the tuning value.
   
9. If the aircraft responds violently, or the pitch angle dial oscillates back and forth around your set pitch attitude, lower the tuning value until the oscillations stop and the dial stabilizes on your selected pitch attitude.
   
10. Repeat the previous three steps until you are satisfied with the responsiveness and accuracy of the pitch controller.
    
11. Write down the value you have entered into the tuner keypad so you don't forget it.
    
12. Return to the workshop and select the micro-controller again, turn off "Enable In-Flight Tuning," and enter the value you wrote down into the "Tuner Coefficient" property box.
    
13. Make sure to save your vehicle, and enjoy the many uses of your aircraft pitch controller.