From 84e09031a7a47fda034e661fa8765b2c8d22a9fe Mon Sep 17 00:00:00 2001 From: dankers Date: Sun, 15 May 2011 05:58:58 +1000 Subject: [PATCH] Faster attitude calc, be much more aggressive with working out bias. Change AccelkP to 0.05 to give accels more influence, just balacing out the 3C filter. Change stab setting to be a better default fopr most Quads. --- flight/Modules/Attitude/attitude.c | 13 ++++++------- shared/uavobjectdefinition/attitudesettings.xml | 2 +- .../uavobjectdefinition/stabilizationsettings.xml | 6 +++--- 3 files changed, 10 insertions(+), 11 deletions(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index 986fc74f3..4aeea69a7 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -141,20 +141,19 @@ static void AttitudeTask(void *parameters) FlightStatusData flightStatus; FlightStatusGet(&flightStatus); - - if(xTaskGetTickCount() < 10000) { + + if(xTaskGetTickCount() < 7000) { // Force settings update to make sure rotation loaded settingsUpdatedCb(AttitudeSettingsHandle()); - // For first 5 seconds use accels to get gyro bias + // For first 7 seconds use accels to get gyro bias accelKp = 1; - // Decrease the rate of gyro learning during init - accelKi = .5 / (1 + xTaskGetTickCount() / 5000); - yawBiasRate = 0.01 / (1 + xTaskGetTickCount() / 5000); + accelKi = 0.9; + yawBiasRate = 0.23; init = 0; } else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) { accelKi = .01; - yawBiasRate = 0.1; + yawBiasRate = 0.23; init = 0; } else if (init == 0) { settingsUpdatedCb(AttitudeSettingsHandle()); diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index 085c1a123..808bbe80f 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -4,7 +4,7 @@ - + diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml index bc339fdcd..177d097cf 100644 --- a/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/shared/uavobjectdefinition/stabilizationsettings.xml @@ -7,9 +7,9 @@ - - - + + +