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Code Issues Releases Activity

Changed accelKp = 1; in 3C filter when calibrating bias when arming. Increase default yaw by 0.005

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This commit is contained in:
dankers 2011-05-17 04:15:28 +10:00
parent e3c0f7f12f
commit 5f32803763
2 changed files with 2 additions and 1 deletions
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1
flight/Modules/Attitude/attitude.c
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@ -152,6 +152,7 @@ static void AttitudeTask(void *parameters)
init = 0;
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;

2
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -9,7 +9,7 @@
<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0.003,0.3"/>
<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0035,0.0035,0.3"/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>