diff options
Diffstat (limited to 'apps/examples/control_demo/params.c')
| -rw-r--r-- | apps/examples/control_demo/params.c | 42 |
1 files changed, 21 insertions, 21 deletions
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c index 4eec456fb..8f923f5a1 100644 --- a/apps/examples/control_demo/params.c +++ b/apps/examples/control_demo/params.c @@ -6,31 +6,31 @@ // 16 is max name length // gyro low pass filter -PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq -PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq -PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq +PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq // yaw washout PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass // stabilization mode -PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron -PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator -PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder +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_R2RDR, 0.2f); // yaw rate 2 rudder // psi -> phi -> p -PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f); // heading 2 roll -PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f); // roll to roll rate -PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f); // roll limit +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 // velocity -> theta -PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f); +PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.2f); PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); -PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f); -PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f); +PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); +PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // theta -> q @@ -41,15 +41,15 @@ PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f); PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f); // h -> thr -PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f); -PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f); -PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f); -PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f); -PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); +PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f); // crosstrack -PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f); -PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f); +PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // 90 deg +PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f); // speed command PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f); @@ -58,6 +58,6 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f); // trim PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); -PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f); +PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f); PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); -PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f); +PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f); |