diff options
author | jgoppert <james.goppert@gmail.com> | 2013-01-16 00:24:14 -0500 |
---|---|---|
committer | jgoppert <james.goppert@gmail.com> | 2013-01-16 00:24:14 -0500 |
commit | f8811649cb91fc88cef7b224b29c6c5f235f1d8d (patch) | |
tree | 69fb799316695d128239ed3c966fcf8e38027403 /apps/examples/control_demo/params.c | |
parent | ce3f835c637338086a18307c61deb35ccddbee05 (diff) | |
download | px4-firmware-f8811649cb91fc88cef7b224b29c6c5f235f1d8d.tar.gz px4-firmware-f8811649cb91fc88cef7b224b29c6c5f235f1d8d.tar.bz2 px4-firmware-f8811649cb91fc88cef7b224b29c6c5f235f1d8d.zip |
Controller/ EKF tuning.
Diffstat (limited to 'apps/examples/control_demo/params.c')
-rw-r--r-- | apps/examples/control_demo/params.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c index 422e9b90e..3eed83b5c 100644 --- a/apps/examples/control_demo/params.c +++ b/apps/examples/control_demo/params.c @@ -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) |