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Code Issues Releases Activity

OP-1898 VelocityRoam AltVario update tuning values based on FTT feedback

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This commit is contained in:
abeck70 2015-05-22 19:07:06 +10:00
parent 446866f769
commit c272c4d4fc
2 changed files with 5 additions and 5 deletions
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4
shared/uavobjectdefinition/altitudeholdsettings.xml
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@ -5,8 +5,8 @@
<field name="ThrustExp" units="" type="uint8" elements="1" defaultvalue="128" />
<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="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, 0.45, 0.001, 0.95"/>
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.3"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

6
shared/uavobjectdefinition/vtolpathfollowersettings.xml
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@ -6,9 +6,9 @@
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.4"/>
<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.3"/>
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.001, 0.95"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 0.45, 0.001, 0.95"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="auto"/>
@ -21,7 +21,7 @@
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
<field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.0, 0.03, 0.95"/>
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="18.0, 0.0, 0.001, 0.95"/>
<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="0.42, 3.0, 0.02, 0.95"/>
<field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>