Overview

The FW parameter group (specifically FW_V_FF and related gains) handles the Forward Velocity controller, primarily within the context of Autonomous Autorotation for helicopters.

Key Concepts

1. Velocity FeedForward

In a descent (autorotation), the autopilot must maintain a specific forward ground/airspeed to preserve rotor RPM and reach the touchdown point.

• FW_V_FF: Provides an immediate pitch command proportional to the target velocity, reducing the burden on the PID error-correction loops.

Parameter Breakdown

• FW_V_FF: Forward velocity feed-forward gain.

Developer Notes

• Library: libraries/AC_Autorotation.
• Relationship: Complements the AROT_ (Autorotation) and AS_ (Acceleration) groups.