CPC G05D 1/0825 (2013.01) [G05B 13/042 (2013.01)] | 20 Claims |
1. A method for stabilizing a UAV (Unmanned Aerial Vehicle) autopilot system during creation of a Bode plot, the method comprising:
creating a Bode plot generation input signal at discrete frequencies;
adding the Bode plot generation input signal to an input of a control loop of the UAV;
collecting data from multiple points within the control loop of the UAV;
calculating magnitude and phase of the control loop the UAV at the multiple points using the data collected;
recording the magnitude and phase for the multiple points in a datalog;
comparing the magnitude and phase for the multiple points to calculate the gain and phase margins for open loop responses in the control loop of the UAV;
creating a Bode plot for at least one of the following: i) a closed loop response of the attitude and/or rate loops of the UAV, ii) an open loop response of the attitude and/or rate loops of the UAV and iii) a response of the UAV; and
outputting the Bode plot.
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