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Code Issues Releases Activity

OP-1847 altvario update of tuning parameters for piddown control

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This commit is contained in:
abeck70 2015-05-04 08:50:44 +10:00
parent a9ad3c5ec1
commit 00aae3c5a3
2 changed files with 3 additions and 3 deletions
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2
shared/uavobjectdefinition/altitudeholdsettings.xml
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@ -6,7 +6,7 @@
<field name="ThrustRate" units="m/s" type="float" elements="1" defaultvalue="5" /> <field name="ThrustRate" units="m/s" type="float" elements="1" defaultvalue="5" />
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/> <field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.4"/> <field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.4"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 3.0, 0.05, 0.9"/> <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.1, 0.0005, 0.95"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>

4
shared/uavobjectdefinition/vtolpathfollowersettings.xml
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@ -23,8 +23,8 @@
<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/> <field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="12.0, 0.0, 0.03, 15"/> <field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="12.0, 0.0, 0.03, 15"/>
<field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/> <field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
<field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 3.0, 0.05, 0.9"/> <field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.9"/>
<field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 3.0, 0.05, 0.9"/> <field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.9"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>