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41 lines
2.4 KiB
Markdown
41 lines
2.4 KiB
Markdown
# Attitude Tuning
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Attitude tuning is required to use [Stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) and all later modes.
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:::warning
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The [rate tuning](rate_tuning.md) must've already been completed before this step!
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:::
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Configure the following [parameters](../advanced_config/parameters.md) in QGroundControl:
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1. [RO_YAW_P](#RO_YAW_P) [-]: Proportional gain for the closed loop yaw controller.
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::: tip
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In stabilized mode the closed loop yaw control is only active when driving a straight line (no yaw rate input).
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To tune it start with a value of 1 for [RO_YAW_P](#RO_YAW_P).
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Put the rover into stabilized mode and move the left stick of your controller up to drive forwards.
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Disarm the rover and from the flight log plot the `measured_yaw` and the `adjusted_yaw_setpoint` from the [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) message over each other.
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Increase/Decrease the parameter until you are satisfied with the setpoint tracking.
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If you observe a steady state error in the yaw setpoint increase the integrator of the rate controller: [RO_YAW_RATE_I](../advanced_config/parameter_reference.md#RO_YAW_RATE_I) .
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:::
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The rover is now ready to drive in [Stabilized mode](../flight_modes_rover/manual.md#stabilized-mode) and the configuration can be continued with [velocity tuning](velocity_tuning.md).
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## Attitude Controller Structure (Info Only)
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This section provides additional information for developers and people with experience in control system design.
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The attitude controller uses the following structure:
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The rate and attitude controllers are cascaded, therefore we only require one integrator in the structure to eliminate steady state errors.
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We placed the integrator in the rate controller since it can run without the attitude controller but not the other way around.
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## Огляд параметрів
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| Параметр | Опис | Unit |
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| ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ---- |
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| <a id="RO_YAW_P"></a>[RO_YAW_P](../advanced_config/parameter_reference.md#RO_YAW_P) | Proportional gain for yaw controller | - |
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