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Merge remote-tracking branch 'origin/next' into thread/OP-1222_FW_Wizard
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commit
139b443ec1
@ -376,7 +376,7 @@ static uint8_t updateAutoPilotVtol()
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}
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// vertical positon control PID loops works the same in both regular and fallback modes, setup according to settings
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pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.HorizontalPosPI.Ki, 0.0f, vtolPathFollowerSettings.HorizontalPosPI.ILimit);
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pid_configure(&global.PIDposV, vtolPathFollowerSettings.VerticalPosPI.Kp, vtolPathFollowerSettings.VerticalPosPI.Ki, 0.0f, vtolPathFollowerSettings.VerticalPosPI.ILimit);
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switch (followermode) {
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case FOLLOWER_REGULAR:
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@ -2,15 +2,15 @@
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<object name="StabilizationSettingsBank1" singleinstance="true" settings="true" category="Control">
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<description>Currently selected PID bank</description>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0050,0.0050,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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@ -2,15 +2,15 @@
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<object name="StabilizationSettingsBank2" singleinstance="true" settings="true" category="Control">
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<description>Currently selected PID bank</description>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0050,0.0050,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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@ -2,15 +2,15 @@
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<object name="StabilizationSettingsBank3" singleinstance="true" settings="true" category="Control">
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<description>Currently selected PID bank</description>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="220,220,220" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0025,0.004,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0050,0.0050,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.00620,0.01000,0.00005,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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@ -6,7 +6,7 @@
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<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="1.0"/>
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<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
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<field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.25,0.0,0.0"/>
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<field name="VerticalPosPI" units="" type="float" elements="1" elementnames="Kp,Ki,Ilimit" defaultvalue="0.4,0.0,0.0"/>
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<field name="VerticalPosPI" units="" type="float" elements="1" elementnames="Kp,Ki,ILimit" defaultvalue="0.4,0.0,0.0"/>
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<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="8.0, 0.5, 0.0, 15"/>
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<field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1, 0.01, 0.0, 1.0"/>
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<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
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