mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
couple of gain changes
This commit is contained in:
Antoine Drouin
@@ -61,14 +61,6 @@
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<define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
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<define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
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<!-- old calibration
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<define name="MAG_X_NEUTRAL" value="30"/>
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<define name="MAG_Y_NEUTRAL" value="80"/>
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<define name="MAG_Z_NEUTRAL" value="19"/>
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<define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
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<define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
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<define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
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-->
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 135.)"/>
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@@ -77,7 +69,7 @@
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
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</section>
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@@ -124,7 +116,7 @@
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<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<!-- gaui props
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<define name="PHI_PGAIN" value="-900"/>
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<define name="PHI_DGAIN" value="-200"/>
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<define name="PHI_IGAIN" value="-200"/>
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@@ -137,16 +129,42 @@
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<define name="PSI_DGAIN" value="-200"/>
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<define name="PSI_IGAIN" value="-10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 200"/>
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<define name="THETA_DDGAIN" value=" 200"/>
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<define name="PSI_DDGAIN" value=" 200"/>
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-->
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<!-- feedback -->
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<define name="PHI_PGAIN" value="-2000"/>
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<define name="PHI_DGAIN" value="-400"/>
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<define name="PHI_IGAIN" value="-200"/>
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<define name="THETA_PGAIN" value="-2000"/>
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<define name="THETA_DGAIN" value="-400"/>
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<define name="THETA_IGAIN" value="-200"/>
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<define name="PSI_PGAIN" value="-2000"/>
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<define name="PSI_DGAIN" value="-400"/>
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<define name="PSI_IGAIN" value="-10"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 300"/>
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<define name="THETA_DDGAIN" value=" 300"/>
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<define name="PSI_DDGAIN" value=" 300"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="PROPAGATE_FREQUENCY" value="512"/>
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<define name="H_X" value=" 0.51562740288882"/>
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<define name="H_Y" value="-0.05707735220832"/>
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<define name="H_Z" value=" 0.85490967783446"/>
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</section>
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<section name="INS" prefix="INS_">
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<!-- <define name="BARO_SENS" value="15." integer="16"/> -->
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<define name="BARO_SENS" value="10." integer="16"/>
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<define name="UNTILT_ACCEL" value="1"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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@@ -155,21 +173,29 @@
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<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
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<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
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<define name="MAX_SUM_ERR" value="2000000"/>
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<!--
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<define name="HOVER_KP" value="-500"/>
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<define name="HOVER_KD" value="-200"/>
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<define name="HOVER_KI" value="-100"/>
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<define name="HOVER_KI" value="0"/>
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-->
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<define name="HOVER_KP" value="-150"/>
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<define name="HOVER_KD" value="-80"/>
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<define name="HOVER_KI" value="0"/>
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<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
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<define name="RC_CLIMB_COEF" value ="163"/>
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<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
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<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
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<define name="INV_M" value ="0.2"/>
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<!-- <define name="INV_M" value ="0.2"/> -->
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="-100"/>
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<define name="PGAIN" value="-50"/>
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<define name="DGAIN" value="-100"/>
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<define name="IGAIN" value="-0"/>
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<define name="IGAIN" value="-15"/>
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<define name="NGAIN" value="-0"/>
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</section>
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<section name="MISC">
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@@ -182,15 +208,19 @@
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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</section>
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<!-- -->
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<!--
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<modules main_freq="512">
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<load name="vehicle_interface_overo_link.xml"/>
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</modules>
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<!-- -->
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-->
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_l_1.0">
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<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
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<define name="USE_PERSISTENT_SETTINGS"/>
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<!-- <define name="USE_INS_NAV_INIT"/> -->
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<define name="USE_ADAPT_HOVER"/>
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<define name="FAILSAFE_GROUND_DETECT"/>
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<define name="USE_GPS_ACC4R"/>
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<target name="ap" board="lisa_l_1.0">
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<subsystem name="radio_control" type="spektrum"/>
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<subsystem name="actuators" type="asctec"/>
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</target>
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@@ -201,29 +231,35 @@
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</target>
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<subsystem name="telemetry" type="transparent"/>
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<subsystem name="imu" type="b2_v1.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B57600"/>
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</subsystem>
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<subsystem name="ahrs" type="cmpl"/>
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<!-- <subsystem name="ahrs" type="ic"/> -->
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<subsystem name="ins" type="hff"/>
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</firmware>
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<firmware name="lisa_l_test_progs">
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<target name="test_led" board="lisa_l_1.0"/>
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<target name="test_uart" board="lisa_l_1.0"/>
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<target name="test_servos" board="lisa_l_1.0"/>
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_imu_b2" board="lisa_l_1.0"/>
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<target name="test_imu_b2_2" board="lisa_l_1.0"/>
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<target name="test_imu_aspirin" board="lisa_l_1.0"/>
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<target name="test_rc_spektrum" board="lisa_l_1.0"/>
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<target name="test_rc_ppm" board="lisa_l_1.0"/>
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<target name="test_adc" board="lisa_l_1.0"/>
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<target name="test_hmc5843" board="lisa_l_1.0"/>
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<target name="test_itg3200" board="lisa_l_1.0"/>
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<target name="test_led" board="lisa_l_1.0"/>
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<target name="test_uart" board="lisa_l_1.0"/>
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<target name="test_servos" board="lisa_l_1.0"/>
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<target name="test_telemetry" board="lisa_l_1.0"/>
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<target name="test_baro" board="lisa_l_1.0"/>
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<target name="test_imu_b2" board="lisa_l_1.0"/>
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<target name="test_imu_b2_2" board="lisa_l_1.0"/>
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<target name="test_imu_aspirin" board="lisa_l_1.0"/>
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<target name="test_rc_spektrum" board="lisa_l_1.0"/>
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<target name="test_rc_ppm" board="lisa_l_1.0"/>
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<target name="test_adc" board="lisa_l_1.0"/>
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<target name="test_hmc5843" board="lisa_l_1.0"/>
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<target name="test_itg3200" board="lisa_l_1.0"/>
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<target name="test_adxl345" board="lisa_l_1.0"/>
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<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
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<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
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<target name="test_actuators_mkk" board="lisa_l_1.0"/>
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<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
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<target name="tunnel_sw" board="lisa_l_1.0"/>
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<target name="tunnel_hw" board="lisa_l_1.0"/>
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</firmware>
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<firmware name="lisa_passthrough">
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