# FlightGear Autopilot: Theory, Configuration, and Tuning

Curtis Olson
(`curt@flightgear.org`)

- Introduction
- Control Theory 101
  - Proportional
  - Integral
  - Derivative
  - Combining P + I + D
- PID Algorithm Implementation
  - Mathematical Formula
  - Algorithm inputs
  - Algorithm output
- XML Autopilot Config File
  - Specifying the Autopilot Configuration
  - Configuration file overview
  - PID Controller Specification
  - Cascading Controllers
- Autopilot Tuning
  - Trial and Error Tuning
  - Ziegler-Nichols Method
  - Other Tuning Tips
  - Tweaking Parameters Inside of FlightGear
- About this document ...

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### Latest Version

v2.0.0 - 18 Feb 2010

A new major update of the FligtGear simulator. Please check the readme

### Notam

Would all pilots try and avoid mpserver02 as its often overloaded.