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Controller/ EKF tuning.

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jgoppert
2013-01-16 00:24:14 -05:00
parent ce3f835c63
commit f8811649cb
3 changed files with 23 additions and 22 deletions
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apps/examples/control_demo/params.c
+6 -6
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@@ -15,16 +15,16 @@ PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
// stabilization mode
PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.5f); // roll rate 2 aileron
PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.5f); // pitch rate 2 elevator
PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.2f); // pitch rate 2 elevator
PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.2f); // yaw rate 2 rudder
// psi -> phi -> p
PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f); // heading 2 roll
PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.5f); // roll limit, 28 deg
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f); // roll limit, 28 deg
// velocity -> theta
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.1f); // velocity to pitch angle PID, prop gain
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f); // velocity to pitch angle PID, prop gain
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass
@@ -34,7 +34,7 @@ PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle
// theta -> q
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 2.0f); // pitch angle to pitch-rate PID
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f); // pitch angle to pitch-rate PID
PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
@@ -49,7 +49,7 @@ PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
// crosstrack
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f); // cross-track to yaw angle gain
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f); // cross-track to yaw angle gain
// speed command
PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f); // minimum commanded velocity
@@ -60,4 +60,4 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f); // maximum commanded velocity
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); // trim aileron, normalized (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f); // trim elevator (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); // trim rudder (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f); // trim throttle (0,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)