Difference between revisions of "Explorer/PPRZ/Tunning"
Jump to navigation
Jump to search
Line 1: | Line 1: | ||
Tunning the vertical loop | Tunning the vertical loop | ||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_"> | |||
Add following mode to telemetry file | Add following mode to telemetry file |
Revision as of 01:30, 27 August 2020
Tunning the vertical loop
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
Add following mode to telemetry file
<mode name="vert_loop" key_press="v"> <message name="ROTORCRAFT_STATUS" period="1.2"/> <message name="DL_VALUE" period="0.5"/> <message name="ALIVE" period="0.9"/> <message name="VFF" period=".05"/> <message name="VFF_EXTENDED" period=".05"/> <message name="VERT_LOOP" period=".05"/> <message name="INS_Z" period=".05"/> <message name="INS" period=".11"/> <message name="INS_REF" period="5.1"/> </mode>
Switch to NAV mode, takeoff, standby
Set telemetry from default to vert_loop
Plot in realtime
~/Projects/paparazzi/sw/ground_segment/tmtc/messages
~/Projects/paparazzi/sw/logalizer/plotter
or post process ground log and data files
~/Projects/paparazzi/sw/logalizer/logplotter ~/Projects/paparazzi/var/logs/xx.log
1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight
=> in flight test, adjust KP and KD
<define name="HOVER_KP" value="90"/> <define name="HOVER_KD" value="120"/> <define name="HOVER_KI" value="0"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/> <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
2) Set KP and KD
=> in flight test, adjust KI
<define name="HOVER_KP" value="300"/> <define name="HOVER_KD" value="100"/> <define name="HOVER_KI" value="0"/>
3) Set KI, and adaptation
<define name="HOVER_KP" value="300"/> <define name="HOVER_KD" value="100"/> <define name="HOVER_KI" value="15"/> <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/> <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/> <define name="ADAPT_NOISE_FACTOR" value="1."/> <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.30"/>