Difference between revisions of "Explorer/PPRZ/Tunning"
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1) Start with no KI, and no adaptation, and set NOMINAL_HOVER_THROTTLE, from manual flight | 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_KP" value="90"/> | ||
<define name="HOVER_KD" value="120"/> | <define name="HOVER_KD" value="120"/> | ||
| Line 34: | Line 34: | ||
2) Set KP and KD | 2) Set KP and KD | ||
=> in flight test, adjust KI | |||
<define name="HOVER_KP" value="300"/> | <define name="HOVER_KP" value="300"/> | ||
<define name="HOVER_KD" value="100"/> | <define name="HOVER_KD" value="100"/> | ||
<define name="HOVER_KI" value="0"/> | <define name="HOVER_KI" value="0"/> | ||
Revision as of 00:20, 27 August 2020
Tunning the vertical loop
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"/>