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zero gravity heuristic for vibrating heli

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Ewoud Smeur
2015-12-16 14:31:29 +01:00
parent 799a9a7586
commit 3b100cd882
1 changed files with 21 additions and 0 deletions
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conf/airframes/TUDELFT/tudelft_heli450.xml
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@@ -107,12 +107,33 @@
</section> </section>
<section name="AHRS" prefix="AHRS_"> <section name="AHRS" prefix="AHRS_">
<!--This airframe vibrates a lot, which causes accel measurements in excess of 1g continuously-->
<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module --> <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/> <define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/> <define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/> <define name="H_Z" value="0.9259921"/>
</section> </section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" unit="deg/s" value="280"/>
<define name="SP_MAX_Q" unit="deg/s" value="280"/>
<define name="SP_MAX_R" unit="deg/s" value="140"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_"> <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">