diff options
Diffstat (limited to 'src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c')
| -rwxr-xr-x | src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c index 1d5e0670a..f962515df 100755 --- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c +++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c @@ -19,8 +19,15 @@ #include "attitude_estimator_so3_comp_params.h" /* This is filter gain for nonlinear SO3 complementary filter */ -PARAM_DEFINE_FLOAT(SO3_COMP_KP, 0.5f); -PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.0f); +/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place. + Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP. + If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which + will compensate gyro bias which depends on temperature and vibration of your vehicle */ +PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time. + //! You can set this gain higher if you want more fast response. + //! But note that higher gain will give you also higher overshoot. +PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change) + //! This gain is depend on your vehicle status. /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); |