mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
updated the hardware test airframe files, positive gains, etc.
This commit is contained in:
Felix Ruess
@@ -162,7 +162,7 @@
|
||||
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
|
||||
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
|
||||
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
|
||||
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
|
||||
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
|
||||
|
||||
@@ -170,7 +170,7 @@
|
||||
</section>
|
||||
|
||||
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
|
||||
<define name="COURSE_PGAIN" value="-1.20000004768"/>
|
||||
<define name="COURSE_PGAIN" value="1.20000004768"/>
|
||||
<define name="COURSE_DGAIN" value="0.3"/>
|
||||
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
|
||||
|
||||
@@ -178,14 +178,14 @@
|
||||
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
|
||||
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
|
||||
|
||||
<define name="PITCH_PGAIN" value="-12000."/>
|
||||
<define name="PITCH_PGAIN" value="12000."/>
|
||||
<define name="PITCH_DGAIN" value="1.5"/>
|
||||
|
||||
<define name="ELEVATOR_OF_ROLL" value="1000."/>
|
||||
|
||||
<define name="ROLL_SLEW" value="1."/>
|
||||
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="0."/>
|
||||
</section>
|
||||
|
||||
|
||||
@@ -161,9 +161,9 @@
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
</section>
|
||||
|
||||
@@ -211,22 +211,22 @@
|
||||
-->
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-900"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
<define name="PHI_PGAIN" value="900"/>
|
||||
<define name="PHI_DGAIN" value="200"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-900"/>
|
||||
<define name="THETA_DGAIN" value="-200"/>
|
||||
<define name="THETA_IGAIN" value="-200"/>
|
||||
<define name="THETA_PGAIN" value="900"/>
|
||||
<define name="THETA_DGAIN" value="200"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-900"/>
|
||||
<define name="PSI_DGAIN" value="-200"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
<define name="PSI_PGAIN" value="900"/>
|
||||
<define name="PSI_DGAIN" value="200"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 200"/>
|
||||
<define name="THETA_DDGAIN" value=" 200"/>
|
||||
<define name="PSI_DDGAIN" value=" 200"/>
|
||||
<define name="PHI_DDGAIN" value="200"/>
|
||||
<define name="THETA_DDGAIN" value="200"/>
|
||||
<define name="PSI_DDGAIN" value="200"/>
|
||||
|
||||
</section>
|
||||
|
||||
@@ -247,29 +247,21 @@
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
|
||||
<!--
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
-->
|
||||
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<!-- <define name="INV_M" value ="0.2"/> -->
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-100"/>
|
||||
<define name="DGAIN" value="-100"/>
|
||||
<define name="IGAIN" value="-0"/>
|
||||
<define name="NGAIN" value="-0"/>
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
|
||||
@@ -179,9 +179,9 @@
|
||||
<define name="SP_MAX_Q" value="10000"/>
|
||||
<define name="SP_MAX_R" value="10000"/>
|
||||
|
||||
<define name="GAIN_P" value="-400"/>
|
||||
<define name="GAIN_Q" value="-400"/>
|
||||
<define name="GAIN_R" value="-350"/>
|
||||
<define name="GAIN_P" value="400"/>
|
||||
<define name="GAIN_Q" value="400"/>
|
||||
<define name="GAIN_R" value="350"/>
|
||||
|
||||
</section>
|
||||
|
||||
@@ -229,22 +229,22 @@
|
||||
-->
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="-900"/>
|
||||
<define name="PHI_DGAIN" value="-200"/>
|
||||
<define name="PHI_IGAIN" value="-200"/>
|
||||
<define name="PHI_PGAIN" value="900"/>
|
||||
<define name="PHI_DGAIN" value="200"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="-900"/>
|
||||
<define name="THETA_DGAIN" value="-200"/>
|
||||
<define name="THETA_IGAIN" value="-200"/>
|
||||
<define name="THETA_PGAIN" value="900"/>
|
||||
<define name="THETA_DGAIN" value="200"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="-900"/>
|
||||
<define name="PSI_DGAIN" value="-200"/>
|
||||
<define name="PSI_IGAIN" value="-10"/>
|
||||
<define name="PSI_PGAIN" value="900"/>
|
||||
<define name="PSI_DGAIN" value="200"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value=" 200"/>
|
||||
<define name="THETA_DDGAIN" value=" 200"/>
|
||||
<define name="PSI_DDGAIN" value=" 200"/>
|
||||
<define name="PHI_DDGAIN" value="200"/>
|
||||
<define name="THETA_DDGAIN" value="200"/>
|
||||
<define name="PSI_DDGAIN" value="200"/>
|
||||
|
||||
</section>
|
||||
|
||||
@@ -265,29 +265,21 @@
|
||||
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
|
||||
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
|
||||
<define name="MAX_SUM_ERR" value="2000000"/>
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
|
||||
<!--
|
||||
<define name="HOVER_KP" value="-150"/>
|
||||
<define name="HOVER_KD" value="-80"/>
|
||||
<define name="HOVER_KI" value="0"/>
|
||||
-->
|
||||
|
||||
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
|
||||
<define name="RC_CLIMB_COEF" value ="163"/>
|
||||
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
|
||||
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
|
||||
<!-- <define name="INV_M" value ="0.2"/> -->
|
||||
</section>
|
||||
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="PGAIN" value="-100"/>
|
||||
<define name="DGAIN" value="-100"/>
|
||||
<define name="IGAIN" value="-0"/>
|
||||
<define name="NGAIN" value="-0"/>
|
||||
<define name="PGAIN" value="100"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="IGAIN" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="MISC">
|
||||
|
||||
Reference in New Issue
Block a user