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[conf] ardrone optitrack tuning

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This commit is contained in:
evandersman
2014-07-17 17:25:57 -07:00
committed by Felix Ruess
parent 868e16febb
commit fc01ee531c
1 changed files with 9 additions and 8 deletions
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conf/airframes/ardrone2_raw_optitrack.xml
+9 -8
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@@ -5,6 +5,7 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="ardrone2_raw"> <target name="ap" board="ardrone2_raw">
<define name="AUTOPILOT_DISABLE_AHRS_KILL"/> <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
<define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
<configure name="USE_MAGNETOMETER" value="0"/> <configure name="USE_MAGNETOMETER" value="0"/>
<subsystem name="telemetry" type="udp"/> <subsystem name="telemetry" type="udp"/>
@@ -39,7 +40,7 @@
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/> <axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/> <axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="3000"/> <axis name="THRUST" failsafe_value="5760"/>
</commands> </commands>
<servos driver="Default"> <servos driver="Default">
@@ -201,17 +202,17 @@
<!-- define name="MAX_BANK" value="32" unit="deg"/ --> <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<!-- reference model --> <!-- reference model -->
<define name="REF_OMEGA" value="RadOfDeg(190.)"/> <define name="REF_OMEGA" value="RadOfDeg(67.)"/>
<define name="REF_ZETA" value="0.9"/> <define name="REF_ZETA" value="0.85"/>
<define name="REF_MAX_ACCEL" value="9.5"/> <define name="REF_MAX_ACCEL" value="5.66"/>
<define name="REF_MAX_SPEED" value="8.5"/> <define name="REF_MAX_SPEED" value="3"/>
<!-- gains --> <!-- gains -->
<define name="PGAIN" value="150"/> <define name="PGAIN" value="116"/>
<define name="DGAIN" value="60"/> <define name="DGAIN" value="60"/>
<define name="IGAIN" value="30"/> <define name="IGAIN" value="30"/>
<define name="VGAIN" value="70"/> <define name="VGAIN" value="0"/>
<define name="AGAIN" value="140"/> <define name="AGAIN" value="62"/>
</section> </section>
<section name="SIMULATOR" prefix="NPS_"> <section name="SIMULATOR" prefix="NPS_">